Source code for omni.isaac.orbit.assets.articulation.articulation_cfg
# Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from dataclasses import MISSING
from omni.isaac.orbit.actuators import ActuatorBaseCfg
from omni.isaac.orbit.utils import configclass
from ..rigid_object import RigidObjectCfg
from .articulation import Articulation
[docs]@configclass
class ArticulationCfg(RigidObjectCfg):
"""Configuration parameters for an articulation."""
class_type: type = Articulation
[docs] @configclass
class InitialStateCfg(RigidObjectCfg.InitialStateCfg):
"""Initial state of the articulation."""
# root position
joint_pos: dict[str, float] = {".*": 0.0}
"""Joint positions of the joints. Defaults to 0.0 for all joints."""
joint_vel: dict[str, float] = {".*": 0.0}
"""Joint velocities of the joints. Defaults to 0.0 for all joints."""
##
# Initialize configurations.
##
init_state: InitialStateCfg = InitialStateCfg()
"""Initial state of the articulated object. Defaults to identity pose with zero velocity and zero joint state."""
soft_joint_pos_limit_factor: float = 1.0
"""Fraction specifying the range of DOF position limits (parsed from the asset) to use.
Defaults to 1.0."""
actuators: dict[str, ActuatorBaseCfg] = MISSING
"""Actuators for the robot with corresponding joint names."""