isaaclab.sim
============

.. automodule:: isaaclab.sim

  .. rubric:: Submodules

  .. autosummary::

    converters
    schemas
    spawners
    utils

  .. rubric:: Classes

  .. autosummary::

    SimulationContext
    SimulationCfg

  .. rubric:: Functions

  .. autosummary::

    simulation_context.build_simulation_context

Simulation Context
------------------

.. autoclass:: SimulationContext
  :members:
  :show-inheritance:

Simulation Configuration
------------------------

.. autoclass:: SimulationCfg
  :members:
  :show-inheritance:
  :exclude-members: __init__

Simulation Context Builder
--------------------------

.. automethod:: simulation_context.build_simulation_context

Additional Public Classes
-------------------------

The following classes are part of the public :mod:`isaaclab.sim` API.

.. currentmodule:: isaaclab.sim

.. autosummary::
   :nosignatures:

   ArticulationRootFragment
   CollisionFragment
   FixedTendonFragment
   JointDriveFragment
   MassCfg
   MassFragment
   MeshCollisionFragment
   MjcfFileCfg
   RigidBodyFragment
   SchemaFragment
   SensorFrameCfg
   SpatialTendonFragment
   UsdFileWithCompliantContactCfg
   UsdPhysicsCollisionCfg
   UsdPhysicsDriveCfg
   UsdPhysicsMeshCollisionCfg
   UsdPhysicsRigidBodyCfg

.. autoclass:: ArticulationRootFragment
   :no-index:
   :show-inheritance:

.. autoclass:: CollisionFragment
   :no-index:
   :show-inheritance:

.. autoclass:: FixedTendonFragment
   :no-index:
   :show-inheritance:

.. autoclass:: JointDriveFragment
   :no-index:
   :show-inheritance:

.. autoclass:: MassCfg
   :no-index:
   :show-inheritance:

.. autoclass:: MassFragment
   :no-index:
   :show-inheritance:

.. autoclass:: MeshCollisionFragment
   :no-index:
   :show-inheritance:

.. autoclass:: MjcfFileCfg
   :show-inheritance:

.. autoclass:: RigidBodyFragment
   :no-index:
   :show-inheritance:

.. autoclass:: SchemaFragment
   :no-index:
   :show-inheritance:

.. autoclass:: SensorFrameCfg
   :show-inheritance:

.. autoclass:: SpatialTendonFragment
   :no-index:
   :show-inheritance:

.. autoclass:: UsdFileWithCompliantContactCfg
   :show-inheritance:

.. autoclass:: UsdPhysicsCollisionCfg
   :no-index:
   :show-inheritance:

.. autoclass:: UsdPhysicsDriveCfg
   :no-index:
   :show-inheritance:

.. autoclass:: UsdPhysicsMeshCollisionCfg
   :no-index:
   :show-inheritance:

.. autoclass:: UsdPhysicsRigidBodyCfg
   :no-index:
   :show-inheritance: