Source code for isaaclab.assets.articulation.articulation_cfg
# Copyright (c) 2022-2025, The Isaac Lab Project Developers.# All rights reserved.## SPDX-License-Identifier: BSD-3-ClausefromdataclassesimportMISSINGfromisaaclab.actuatorsimportActuatorBaseCfgfromisaaclab.utilsimportconfigclassfrom..asset_base_cfgimportAssetBaseCfgfrom.articulationimportArticulation
[docs]@configclassclassArticulationCfg(AssetBaseCfg):"""Configuration parameters for an articulation."""
[docs]@configclassclassInitialStateCfg(AssetBaseCfg.InitialStateCfg):"""Initial state of the articulation."""# root velocitylin_vel:tuple[float,float,float]=(0.0,0.0,0.0)"""Linear velocity of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0)."""ang_vel:tuple[float,float,float]=(0.0,0.0,0.0)"""Angular velocity of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0)."""# joint statejoint_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.##class_type:type=Articulationinit_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 joint position limits (parsed from the asset) to use. Defaults to 1.0. The soft joint position limits are scaled by this factor to specify a safety region within the simulated joint position limits. This isn't used by the simulation, but is useful for learning agents to prevent the joint positions from violating the limits, such as for termination conditions. The soft joint position limits are accessible through the :attr:`ArticulationData.soft_joint_pos_limits` attribute. """actuators:dict[str,ActuatorBaseCfg]=MISSING"""Actuators for the robot with corresponding joint names."""