diff --git a/.github/workflows/sync-and-translate.yml b/.github/workflows/sync-and-translate.yml new file mode 100644 index 0000000000..d9d00b5199 --- /dev/null +++ b/.github/workflows/sync-and-translate.yml @@ -0,0 +1,85 @@ +name: Sync and Translate Documentation + +on: + schedule: + - cron: '0 0 * * *' # 每天 UTC 时间午夜运行一次 + workflow_dispatch: + +jobs: + sync-and-translate: + runs-on: ubuntu-latest + + steps: + - name: Checkout user's repo (main branch) + uses: actions/checkout@v2 + with: + repository: fan-ziqi/IsaacLab + ref: main + + - name: Configure Git user + run: | + git config --global user.name 'github-actions' + git config --global user.email 'github-actions@github.com' + + - name: Add upstream repository + run: git remote add upstream https://github.com/isaac-sim/IsaacLab.git + + - name: Merge upstream changes while keeping local changes + run: | + git fetch upstream + git checkout main + git merge upstream/main -X ours --allow-unrelated-histories + + - name: Set up Python + uses: actions/setup-python@v2 + with: + python-version: '3.x' + + - name: Install dependencies + run: | + python -m pip install --upgrade pip + pip install setuptools polib==1.2.0 openai==v1.3.6 python-dotenv==1.0.0 pytest==8.2.2 sphinx-intl sphinx-book-theme==1.0.1 myst-parser sphinxcontrib-bibtex==2.5.0 autodocsumm sphinx-copybutton sphinx-icon sphinx_design sphinxemoji numpy matplotlib warp-lang gymnasium + + - name: Generate gettext + run: | + pushd docs + make gettext + popd + + - name: Update translations + run: | + pushd docs + sphinx-intl update -p _build/gettext -l zh_CN + popd + + - name: Translate using custom script + run: | + pushd docs + python po_translator.py --folder ./locale --lang zh_CN --folder-language --bulk + popd + + - name: Build HTML with translations + run: make -e SPHINXOPTS="-D language='zh_CN'" -C docs html + + - name: Copy generated HTML files to user repo + run: | + mkdir -p temp_html + cp -r docs/_build/html/* temp_html/ + + - name: Commit and push gettext and po files to main branch + run: | + git add -f docs/_build/gettext/* + git add -f docs/locale/zh_CN/LC_MESSAGES/**/*.po + git commit -m "Update gettext and po files" + git push origin main + + - name: Commit and push changes to gh-pages-zhcn branch + run: | + git checkout --orphan gh-pages-zhcn + git rm -rf . + cp -r temp_html/* . + rm -rf temp_html + rm -rf docs + git add . + git commit -m "Update translated documentation" + git push origin gh-pages-zhcn --force \ No newline at end of file diff --git a/docs/README.md b/docs/README.md index c154e0ad0f..c18ccd0b55 100644 --- a/docs/README.md +++ b/docs/README.md @@ -28,3 +28,10 @@ Execute the following instructions to build the documentation (assumed from the # open on default browser xdg-open _build/html/index.html ``` + +```bash +make gettext +sphinx-intl update -p _build/gettext -l zh_CN +python po_translator.py --folder ./locales --lang zh_CN --folder-language --bulk +make -e SPHINXOPTS="-D language='zh_CN'" html +``` \ No newline at end of file diff --git a/docs/_build/gettext/_sphinx_design_static/design-tabs.js b/docs/_build/gettext/_sphinx_design_static/design-tabs.js new file mode 100644 index 0000000000..b25bd6a4fa --- /dev/null +++ b/docs/_build/gettext/_sphinx_design_static/design-tabs.js @@ -0,0 +1,101 @@ +// @ts-check + +// Extra JS capability for selected tabs to be synced +// The selection is stored in local storage so that it persists across page loads. + +/** + * @type {Record} + */ +let sd_id_to_elements = {}; +const storageKeyPrefix = "sphinx-design-tab-id-"; + +/** + * Create a key for a tab element. + * @param {HTMLElement} el - The tab element. + * @returns {[string, string, string] | null} - The key. + * + */ +function create_key(el) { + let syncId = el.getAttribute("data-sync-id"); + let syncGroup = el.getAttribute("data-sync-group"); + if (!syncId || !syncGroup) return null; + return [syncGroup, syncId, syncGroup + "--" + syncId]; +} + +/** + * Initialize the tab selection. + * + */ +function ready() { + // Find all tabs with sync data + + /** @type {string[]} */ + let groups = []; + + document.querySelectorAll(".sd-tab-label").forEach((label) => { + if (label instanceof HTMLElement) { + let data = create_key(label); + if (data) { + let [group, id, key] = data; + + // add click event listener + // @ts-ignore + label.onclick = onSDLabelClick; + + // store map of key to elements + if (!sd_id_to_elements[key]) { + sd_id_to_elements[key] = []; + } + sd_id_to_elements[key].push(label); + + if (groups.indexOf(group) === -1) { + groups.push(group); + // Check if a specific tab has been selected via URL parameter + const tabParam = new URLSearchParams(window.location.search).get( + group + ); + if (tabParam) { + console.log( + "sphinx-design: Selecting tab id for group '" + + group + + "' from URL parameter: " + + tabParam + ); + window.sessionStorage.setItem(storageKeyPrefix + group, tabParam); + } + } + + // Check is a specific tab has been selected previously + let previousId = window.sessionStorage.getItem( + storageKeyPrefix + group + ); + if (previousId === id) { + // console.log( + // "sphinx-design: Selecting tab from session storage: " + id + // ); + // @ts-ignore + label.previousElementSibling.checked = true; + } + } + } + }); +} + +/** + * Activate other tabs with the same sync id. + * + * @this {HTMLElement} - The element that was clicked. + */ +function onSDLabelClick() { + let data = create_key(this); + if (!data) return; + let [group, id, key] = data; + for (const label of sd_id_to_elements[key]) { + if (label === this) continue; + // @ts-ignore + label.previousElementSibling.checked = true; + } + window.sessionStorage.setItem(storageKeyPrefix + group, id); +} + +document.addEventListener("DOMContentLoaded", ready, false); diff --git a/docs/_build/gettext/_sphinx_design_static/sphinx-design.5ea377869091fd0449014c60fc090103.min.css b/docs/_build/gettext/_sphinx_design_static/sphinx-design.5ea377869091fd0449014c60fc090103.min.css new file mode 100644 index 0000000000..a325746f2e --- /dev/null +++ b/docs/_build/gettext/_sphinx_design_static/sphinx-design.5ea377869091fd0449014c60fc090103.min.css @@ -0,0 +1 @@ +.sd-bg-primary{background-color:var(--sd-color-primary) !important}.sd-bg-text-primary{color:var(--sd-color-primary-text) !important}button.sd-bg-primary:focus,button.sd-bg-primary:hover{background-color:var(--sd-color-primary-highlight) !important}a.sd-bg-primary:focus,a.sd-bg-primary:hover{background-color:var(--sd-color-primary-highlight) !important}.sd-bg-secondary{background-color:var(--sd-color-secondary) !important}.sd-bg-text-secondary{color:var(--sd-color-secondary-text) !important}button.sd-bg-secondary:focus,button.sd-bg-secondary:hover{background-color:var(--sd-color-secondary-highlight) !important}a.sd-bg-secondary:focus,a.sd-bg-secondary:hover{background-color:var(--sd-color-secondary-highlight) !important}.sd-bg-success{background-color:var(--sd-color-success) !important}.sd-bg-text-success{color:var(--sd-color-success-text) !important}button.sd-bg-success:focus,button.sd-bg-success:hover{background-color:var(--sd-color-success-highlight) !important}a.sd-bg-success:focus,a.sd-bg-success:hover{background-color:var(--sd-color-success-highlight) !important}.sd-bg-info{background-color:var(--sd-color-info) !important}.sd-bg-text-info{color:var(--sd-color-info-text) !important}button.sd-bg-info:focus,button.sd-bg-info:hover{background-color:var(--sd-color-info-highlight) !important}a.sd-bg-info:focus,a.sd-bg-info:hover{background-color:var(--sd-color-info-highlight) !important}.sd-bg-warning{background-color:var(--sd-color-warning) !important}.sd-bg-text-warning{color:var(--sd-color-warning-text) !important}button.sd-bg-warning:focus,button.sd-bg-warning:hover{background-color:var(--sd-color-warning-highlight) !important}a.sd-bg-warning:focus,a.sd-bg-warning:hover{background-color:var(--sd-color-warning-highlight) !important}.sd-bg-danger{background-color:var(--sd-color-danger) !important}.sd-bg-text-danger{color:var(--sd-color-danger-text) !important}button.sd-bg-danger:focus,button.sd-bg-danger:hover{background-color:var(--sd-color-danger-highlight) !important}a.sd-bg-danger:focus,a.sd-bg-danger:hover{background-color:var(--sd-color-danger-highlight) !important}.sd-bg-light{background-color:var(--sd-color-light) !important}.sd-bg-text-light{color:var(--sd-color-light-text) !important}button.sd-bg-light:focus,button.sd-bg-light:hover{background-color:var(--sd-color-light-highlight) !important}a.sd-bg-light:focus,a.sd-bg-light:hover{background-color:var(--sd-color-light-highlight) !important}.sd-bg-muted{background-color:var(--sd-color-muted) !important}.sd-bg-text-muted{color:var(--sd-color-muted-text) !important}button.sd-bg-muted:focus,button.sd-bg-muted:hover{background-color:var(--sd-color-muted-highlight) !important}a.sd-bg-muted:focus,a.sd-bg-muted:hover{background-color:var(--sd-color-muted-highlight) !important}.sd-bg-dark{background-color:var(--sd-color-dark) !important}.sd-bg-text-dark{color:var(--sd-color-dark-text) !important}button.sd-bg-dark:focus,button.sd-bg-dark:hover{background-color:var(--sd-color-dark-highlight) !important}a.sd-bg-dark:focus,a.sd-bg-dark:hover{background-color:var(--sd-color-dark-highlight) !important}.sd-bg-black{background-color:var(--sd-color-black) !important}.sd-bg-text-black{color:var(--sd-color-black-text) !important}button.sd-bg-black:focus,button.sd-bg-black:hover{background-color:var(--sd-color-black-highlight) !important}a.sd-bg-black:focus,a.sd-bg-black:hover{background-color:var(--sd-color-black-highlight) !important}.sd-bg-white{background-color:var(--sd-color-white) !important}.sd-bg-text-white{color:var(--sd-color-white-text) !important}button.sd-bg-white:focus,button.sd-bg-white:hover{background-color:var(--sd-color-white-highlight) !important}a.sd-bg-white:focus,a.sd-bg-white:hover{background-color:var(--sd-color-white-highlight) !important}.sd-text-primary,.sd-text-primary>p{color:var(--sd-color-primary) !important}a.sd-text-primary:focus,a.sd-text-primary:hover{color:var(--sd-color-primary-highlight) !important}.sd-text-secondary,.sd-text-secondary>p{color:var(--sd-color-secondary) !important}a.sd-text-secondary:focus,a.sd-text-secondary:hover{color:var(--sd-color-secondary-highlight) !important}.sd-text-success,.sd-text-success>p{color:var(--sd-color-success) !important}a.sd-text-success:focus,a.sd-text-success:hover{color:var(--sd-color-success-highlight) !important}.sd-text-info,.sd-text-info>p{color:var(--sd-color-info) !important}a.sd-text-info:focus,a.sd-text-info:hover{color:var(--sd-color-info-highlight) !important}.sd-text-warning,.sd-text-warning>p{color:var(--sd-color-warning) !important}a.sd-text-warning:focus,a.sd-text-warning:hover{color:var(--sd-color-warning-highlight) !important}.sd-text-danger,.sd-text-danger>p{color:var(--sd-color-danger) !important}a.sd-text-danger:focus,a.sd-text-danger:hover{color:var(--sd-color-danger-highlight) !important}.sd-text-light,.sd-text-light>p{color:var(--sd-color-light) !important}a.sd-text-light:focus,a.sd-text-light:hover{color:var(--sd-color-light-highlight) !important}.sd-text-muted,.sd-text-muted>p{color:var(--sd-color-muted) !important}a.sd-text-muted:focus,a.sd-text-muted:hover{color:var(--sd-color-muted-highlight) !important}.sd-text-dark,.sd-text-dark>p{color:var(--sd-color-dark) !important}a.sd-text-dark:focus,a.sd-text-dark:hover{color:var(--sd-color-dark-highlight) !important}.sd-text-black,.sd-text-black>p{color:var(--sd-color-black) !important}a.sd-text-black:focus,a.sd-text-black:hover{color:var(--sd-color-black-highlight) !important}.sd-text-white,.sd-text-white>p{color:var(--sd-color-white) !important}a.sd-text-white:focus,a.sd-text-white:hover{color:var(--sd-color-white-highlight) !important}.sd-outline-primary{border-color:var(--sd-color-primary) !important;border-style:solid !important;border-width:1px !important}a.sd-outline-primary:focus,a.sd-outline-primary:hover{border-color:var(--sd-color-primary-highlight) !important}.sd-outline-secondary{border-color:var(--sd-color-secondary) !important;border-style:solid !important;border-width:1px !important}a.sd-outline-secondary:focus,a.sd-outline-secondary:hover{border-color:var(--sd-color-secondary-highlight) !important}.sd-outline-success{border-color:var(--sd-color-success) !important;border-style:solid !important;border-width:1px !important}a.sd-outline-success:focus,a.sd-outline-success:hover{border-color:var(--sd-color-success-highlight) !important}.sd-outline-info{border-color:var(--sd-color-info) !important;border-style:solid !important;border-width:1px !important}a.sd-outline-info:focus,a.sd-outline-info:hover{border-color:var(--sd-color-info-highlight) !important}.sd-outline-warning{border-color:var(--sd-color-warning) !important;border-style:solid !important;border-width:1px !important}a.sd-outline-warning:focus,a.sd-outline-warning:hover{border-color:var(--sd-color-warning-highlight) !important}.sd-outline-danger{border-color:var(--sd-color-danger) !important;border-style:solid !important;border-width:1px !important}a.sd-outline-danger:focus,a.sd-outline-danger:hover{border-color:var(--sd-color-danger-highlight) !important}.sd-outline-light{border-color:var(--sd-color-light) !important;border-style:solid !important;border-width:1px !important}a.sd-outline-light:focus,a.sd-outline-light:hover{border-color:var(--sd-color-light-highlight) !important}.sd-outline-muted{border-color:var(--sd-color-muted) !important;border-style:solid !important;border-width:1px !important}a.sd-outline-muted:focus,a.sd-outline-muted:hover{border-color:var(--sd-color-muted-highlight) !important}.sd-outline-dark{border-color:var(--sd-color-dark) !important;border-style:solid !important;border-width:1px !important}a.sd-outline-dark:focus,a.sd-outline-dark:hover{border-color:var(--sd-color-dark-highlight) !important}.sd-outline-black{border-color:var(--sd-color-black) !important;border-style:solid !important;border-width:1px !important}a.sd-outline-black:focus,a.sd-outline-black:hover{border-color:var(--sd-color-black-highlight) !important}.sd-outline-white{border-color:var(--sd-color-white) !important;border-style:solid !important;border-width:1px !important}a.sd-outline-white:focus,a.sd-outline-white:hover{border-color:var(--sd-color-white-highlight) !important}.sd-bg-transparent{background-color:transparent !important}.sd-outline-transparent{border-color:transparent !important}.sd-text-transparent{color:transparent !important}.sd-p-0{padding:0 !important}.sd-pt-0,.sd-py-0{padding-top:0 !important}.sd-pr-0,.sd-px-0{padding-right:0 !important}.sd-pb-0,.sd-py-0{padding-bottom:0 !important}.sd-pl-0,.sd-px-0{padding-left:0 !important}.sd-p-1{padding:.25rem !important}.sd-pt-1,.sd-py-1{padding-top:.25rem !important}.sd-pr-1,.sd-px-1{padding-right:.25rem !important}.sd-pb-1,.sd-py-1{padding-bottom:.25rem !important}.sd-pl-1,.sd-px-1{padding-left:.25rem !important}.sd-p-2{padding:.5rem !important}.sd-pt-2,.sd-py-2{padding-top:.5rem !important}.sd-pr-2,.sd-px-2{padding-right:.5rem !important}.sd-pb-2,.sd-py-2{padding-bottom:.5rem !important}.sd-pl-2,.sd-px-2{padding-left:.5rem !important}.sd-p-3{padding:1rem !important}.sd-pt-3,.sd-py-3{padding-top:1rem !important}.sd-pr-3,.sd-px-3{padding-right:1rem !important}.sd-pb-3,.sd-py-3{padding-bottom:1rem !important}.sd-pl-3,.sd-px-3{padding-left:1rem !important}.sd-p-4{padding:1.5rem !important}.sd-pt-4,.sd-py-4{padding-top:1.5rem !important}.sd-pr-4,.sd-px-4{padding-right:1.5rem !important}.sd-pb-4,.sd-py-4{padding-bottom:1.5rem !important}.sd-pl-4,.sd-px-4{padding-left:1.5rem !important}.sd-p-5{padding:3rem !important}.sd-pt-5,.sd-py-5{padding-top:3rem !important}.sd-pr-5,.sd-px-5{padding-right:3rem !important}.sd-pb-5,.sd-py-5{padding-bottom:3rem !important}.sd-pl-5,.sd-px-5{padding-left:3rem !important}.sd-m-auto{margin:auto !important}.sd-mt-auto,.sd-my-auto{margin-top:auto !important}.sd-mr-auto,.sd-mx-auto{margin-right:auto !important}.sd-mb-auto,.sd-my-auto{margin-bottom:auto !important}.sd-ml-auto,.sd-mx-auto{margin-left:auto !important}.sd-m-0{margin:0 !important}.sd-mt-0,.sd-my-0{margin-top:0 !important}.sd-mr-0,.sd-mx-0{margin-right:0 !important}.sd-mb-0,.sd-my-0{margin-bottom:0 !important}.sd-ml-0,.sd-mx-0{margin-left:0 !important}.sd-m-1{margin:.25rem !important}.sd-mt-1,.sd-my-1{margin-top:.25rem !important}.sd-mr-1,.sd-mx-1{margin-right:.25rem !important}.sd-mb-1,.sd-my-1{margin-bottom:.25rem !important}.sd-ml-1,.sd-mx-1{margin-left:.25rem !important}.sd-m-2{margin:.5rem !important}.sd-mt-2,.sd-my-2{margin-top:.5rem !important}.sd-mr-2,.sd-mx-2{margin-right:.5rem !important}.sd-mb-2,.sd-my-2{margin-bottom:.5rem !important}.sd-ml-2,.sd-mx-2{margin-left:.5rem !important}.sd-m-3{margin:1rem !important}.sd-mt-3,.sd-my-3{margin-top:1rem !important}.sd-mr-3,.sd-mx-3{margin-right:1rem !important}.sd-mb-3,.sd-my-3{margin-bottom:1rem !important}.sd-ml-3,.sd-mx-3{margin-left:1rem !important}.sd-m-4{margin:1.5rem !important}.sd-mt-4,.sd-my-4{margin-top:1.5rem !important}.sd-mr-4,.sd-mx-4{margin-right:1.5rem !important}.sd-mb-4,.sd-my-4{margin-bottom:1.5rem !important}.sd-ml-4,.sd-mx-4{margin-left:1.5rem !important}.sd-m-5{margin:3rem !important}.sd-mt-5,.sd-my-5{margin-top:3rem !important}.sd-mr-5,.sd-mx-5{margin-right:3rem !important}.sd-mb-5,.sd-my-5{margin-bottom:3rem !important}.sd-ml-5,.sd-mx-5{margin-left:3rem !important}.sd-w-25{width:25% !important}.sd-w-50{width:50% !important}.sd-w-75{width:75% !important}.sd-w-100{width:100% !important}.sd-w-auto{width:auto !important}.sd-h-25{height:25% !important}.sd-h-50{height:50% !important}.sd-h-75{height:75% !important}.sd-h-100{height:100% !important}.sd-h-auto{height:auto !important}.sd-d-none{display:none !important}.sd-d-inline{display:inline !important}.sd-d-inline-block{display:inline-block !important}.sd-d-block{display:block !important}.sd-d-grid{display:grid !important}.sd-d-flex-row{display:-ms-flexbox !important;display:flex !important;flex-direction:row !important}.sd-d-flex-column{display:-ms-flexbox !important;display:flex !important;flex-direction:column !important}.sd-d-inline-flex{display:-ms-inline-flexbox !important;display:inline-flex !important}@media(min-width: 576px){.sd-d-sm-none{display:none !important}.sd-d-sm-inline{display:inline !important}.sd-d-sm-inline-block{display:inline-block !important}.sd-d-sm-block{display:block !important}.sd-d-sm-grid{display:grid !important}.sd-d-sm-flex{display:-ms-flexbox !important;display:flex !important}.sd-d-sm-inline-flex{display:-ms-inline-flexbox !important;display:inline-flex !important}}@media(min-width: 768px){.sd-d-md-none{display:none !important}.sd-d-md-inline{display:inline !important}.sd-d-md-inline-block{display:inline-block !important}.sd-d-md-block{display:block !important}.sd-d-md-grid{display:grid !important}.sd-d-md-flex{display:-ms-flexbox !important;display:flex !important}.sd-d-md-inline-flex{display:-ms-inline-flexbox !important;display:inline-flex !important}}@media(min-width: 992px){.sd-d-lg-none{display:none !important}.sd-d-lg-inline{display:inline !important}.sd-d-lg-inline-block{display:inline-block !important}.sd-d-lg-block{display:block !important}.sd-d-lg-grid{display:grid !important}.sd-d-lg-flex{display:-ms-flexbox !important;display:flex !important}.sd-d-lg-inline-flex{display:-ms-inline-flexbox !important;display:inline-flex !important}}@media(min-width: 1200px){.sd-d-xl-none{display:none !important}.sd-d-xl-inline{display:inline !important}.sd-d-xl-inline-block{display:inline-block !important}.sd-d-xl-block{display:block !important}.sd-d-xl-grid{display:grid !important}.sd-d-xl-flex{display:-ms-flexbox !important;display:flex !important}.sd-d-xl-inline-flex{display:-ms-inline-flexbox !important;display:inline-flex !important}}.sd-align-major-start{justify-content:flex-start !important}.sd-align-major-end{justify-content:flex-end !important}.sd-align-major-center{justify-content:center !important}.sd-align-major-justify{justify-content:space-between !important}.sd-align-major-spaced{justify-content:space-evenly !important}.sd-align-minor-start{align-items:flex-start !important}.sd-align-minor-end{align-items:flex-end !important}.sd-align-minor-center{align-items:center !important}.sd-align-minor-stretch{align-items:stretch !important}.sd-text-justify{text-align:justify !important}.sd-text-left{text-align:left !important}.sd-text-right{text-align:right !important}.sd-text-center{text-align:center !important}.sd-font-weight-light{font-weight:300 !important}.sd-font-weight-lighter{font-weight:lighter !important}.sd-font-weight-normal{font-weight:400 !important}.sd-font-weight-bold{font-weight:700 !important}.sd-font-weight-bolder{font-weight:bolder !important}.sd-font-italic{font-style:italic !important}.sd-text-decoration-none{text-decoration:none !important}.sd-text-lowercase{text-transform:lowercase !important}.sd-text-uppercase{text-transform:uppercase !important}.sd-text-capitalize{text-transform:capitalize !important}.sd-text-wrap{white-space:normal !important}.sd-text-nowrap{white-space:nowrap !important}.sd-text-truncate{overflow:hidden;text-overflow:ellipsis;white-space:nowrap}.sd-fs-1,.sd-fs-1>p{font-size:calc(1.375rem + 1.5vw) !important;line-height:unset !important}.sd-fs-2,.sd-fs-2>p{font-size:calc(1.325rem + 0.9vw) !important;line-height:unset !important}.sd-fs-3,.sd-fs-3>p{font-size:calc(1.3rem + 0.6vw) !important;line-height:unset !important}.sd-fs-4,.sd-fs-4>p{font-size:calc(1.275rem + 0.3vw) !important;line-height:unset !important}.sd-fs-5,.sd-fs-5>p{font-size:1.25rem !important;line-height:unset !important}.sd-fs-6,.sd-fs-6>p{font-size:1rem !important;line-height:unset !important}.sd-border-0{border:0 solid !important}.sd-border-top-0{border-top:0 solid !important}.sd-border-bottom-0{border-bottom:0 solid !important}.sd-border-right-0{border-right:0 solid !important}.sd-border-left-0{border-left:0 solid !important}.sd-border-1{border:1px solid !important}.sd-border-top-1{border-top:1px solid !important}.sd-border-bottom-1{border-bottom:1px solid !important}.sd-border-right-1{border-right:1px solid !important}.sd-border-left-1{border-left:1px solid !important}.sd-border-2{border:2px solid !important}.sd-border-top-2{border-top:2px solid !important}.sd-border-bottom-2{border-bottom:2px solid !important}.sd-border-right-2{border-right:2px solid !important}.sd-border-left-2{border-left:2px solid !important}.sd-border-3{border:3px solid !important}.sd-border-top-3{border-top:3px solid !important}.sd-border-bottom-3{border-bottom:3px solid !important}.sd-border-right-3{border-right:3px solid !important}.sd-border-left-3{border-left:3px solid !important}.sd-border-4{border:4px solid !important}.sd-border-top-4{border-top:4px solid !important}.sd-border-bottom-4{border-bottom:4px solid !important}.sd-border-right-4{border-right:4px solid !important}.sd-border-left-4{border-left:4px solid !important}.sd-border-5{border:5px solid !important}.sd-border-top-5{border-top:5px solid !important}.sd-border-bottom-5{border-bottom:5px solid !important}.sd-border-right-5{border-right:5px solid !important}.sd-border-left-5{border-left:5px solid !important}.sd-rounded-0{border-radius:0 !important}.sd-rounded-1{border-radius:.2rem !important}.sd-rounded-2{border-radius:.3rem !important}.sd-rounded-3{border-radius:.5rem !important}.sd-rounded-pill{border-radius:50rem !important}.sd-rounded-circle{border-radius:50% !important}.shadow-none{box-shadow:none !important}.sd-shadow-sm{box-shadow:0 .125rem .25rem var(--sd-color-shadow) !important}.sd-shadow-md{box-shadow:0 .5rem 1rem var(--sd-color-shadow) !important}.sd-shadow-lg{box-shadow:0 1rem 3rem var(--sd-color-shadow) !important}@keyframes sd-slide-from-left{0%{transform:translateX(-100%)}100%{transform:translateX(0)}}@keyframes sd-slide-from-right{0%{transform:translateX(200%)}100%{transform:translateX(0)}}@keyframes sd-grow100{0%{transform:scale(0);opacity:.5}100%{transform:scale(1);opacity:1}}@keyframes sd-grow50{0%{transform:scale(0.5);opacity:.5}100%{transform:scale(1);opacity:1}}@keyframes sd-grow50-rot20{0%{transform:scale(0.5) rotateZ(-20deg);opacity:.5}75%{transform:scale(1) rotateZ(5deg);opacity:1}95%{transform:scale(1) rotateZ(-1deg);opacity:1}100%{transform:scale(1) rotateZ(0);opacity:1}}.sd-animate-slide-from-left{animation:1s ease-out 0s 1 normal none running sd-slide-from-left}.sd-animate-slide-from-right{animation:1s ease-out 0s 1 normal none running sd-slide-from-right}.sd-animate-grow100{animation:1s ease-out 0s 1 normal none running sd-grow100}.sd-animate-grow50{animation:1s ease-out 0s 1 normal none running sd-grow50}.sd-animate-grow50-rot20{animation:1s ease-out 0s 1 normal none running sd-grow50-rot20}.sd-badge{display:inline-block;padding:.35em .65em;font-size:.75em;font-weight:700;line-height:1;text-align:center;white-space:nowrap;vertical-align:baseline;border-radius:.25rem}.sd-badge:empty{display:none}a.sd-badge{text-decoration:none}.sd-btn .sd-badge{position:relative;top:-1px}.sd-btn{background-color:transparent;border:1px solid transparent;border-radius:.25rem;cursor:pointer;display:inline-block;font-weight:400;font-size:1rem;line-height:1.5;padding:.375rem .75rem;text-align:center;text-decoration:none;transition:color .15s ease-in-out,background-color .15s ease-in-out,border-color .15s ease-in-out,box-shadow .15s ease-in-out;vertical-align:middle;user-select:none;-moz-user-select:none;-ms-user-select:none;-webkit-user-select:none}.sd-btn:hover{text-decoration:none}@media(prefers-reduced-motion: reduce){.sd-btn{transition:none}}.sd-btn-primary,.sd-btn-outline-primary:hover,.sd-btn-outline-primary:focus{color:var(--sd-color-primary-text) !important;background-color:var(--sd-color-primary) !important;border-color:var(--sd-color-primary) !important;border-width:1px !important;border-style:solid !important}.sd-btn-primary:hover,.sd-btn-primary:focus{color:var(--sd-color-primary-text) !important;background-color:var(--sd-color-primary-highlight) !important;border-color:var(--sd-color-primary-highlight) !important;border-width:1px !important;border-style:solid !important}.sd-btn-outline-primary{color:var(--sd-color-primary) !important;border-color:var(--sd-color-primary) !important;border-width:1px !important;border-style:solid !important}.sd-btn-secondary,.sd-btn-outline-secondary:hover,.sd-btn-outline-secondary:focus{color:var(--sd-color-secondary-text) !important;background-color:var(--sd-color-secondary) !important;border-color:var(--sd-color-secondary) !important;border-width:1px !important;border-style:solid !important}.sd-btn-secondary:hover,.sd-btn-secondary:focus{color:var(--sd-color-secondary-text) !important;background-color:var(--sd-color-secondary-highlight) !important;border-color:var(--sd-color-secondary-highlight) !important;border-width:1px !important;border-style:solid !important}.sd-btn-outline-secondary{color:var(--sd-color-secondary) !important;border-color:var(--sd-color-secondary) !important;border-width:1px !important;border-style:solid !important}.sd-btn-success,.sd-btn-outline-success:hover,.sd-btn-outline-success:focus{color:var(--sd-color-success-text) !important;background-color:var(--sd-color-success) !important;border-color:var(--sd-color-success) !important;border-width:1px !important;border-style:solid !important}.sd-btn-success:hover,.sd-btn-success:focus{color:var(--sd-color-success-text) !important;background-color:var(--sd-color-success-highlight) !important;border-color:var(--sd-color-success-highlight) !important;border-width:1px !important;border-style:solid !important}.sd-btn-outline-success{color:var(--sd-color-success) !important;border-color:var(--sd-color-success) !important;border-width:1px !important;border-style:solid !important}.sd-btn-info,.sd-btn-outline-info:hover,.sd-btn-outline-info:focus{color:var(--sd-color-info-text) !important;background-color:var(--sd-color-info) !important;border-color:var(--sd-color-info) !important;border-width:1px !important;border-style:solid !important}.sd-btn-info:hover,.sd-btn-info:focus{color:var(--sd-color-info-text) !important;background-color:var(--sd-color-info-highlight) !important;border-color:var(--sd-color-info-highlight) !important;border-width:1px !important;border-style:solid !important}.sd-btn-outline-info{color:var(--sd-color-info) !important;border-color:var(--sd-color-info) !important;border-width:1px !important;border-style:solid !important}.sd-btn-warning,.sd-btn-outline-warning:hover,.sd-btn-outline-warning:focus{color:var(--sd-color-warning-text) !important;background-color:var(--sd-color-warning) !important;border-color:var(--sd-color-warning) !important;border-width:1px !important;border-style:solid !important}.sd-btn-warning:hover,.sd-btn-warning:focus{color:var(--sd-color-warning-text) !important;background-color:var(--sd-color-warning-highlight) !important;border-color:var(--sd-color-warning-highlight) !important;border-width:1px !important;border-style:solid !important}.sd-btn-outline-warning{color:var(--sd-color-warning) !important;border-color:var(--sd-color-warning) !important;border-width:1px !important;border-style:solid !important}.sd-btn-danger,.sd-btn-outline-danger:hover,.sd-btn-outline-danger:focus{color:var(--sd-color-danger-text) !important;background-color:var(--sd-color-danger) !important;border-color:var(--sd-color-danger) !important;border-width:1px !important;border-style:solid !important}.sd-btn-danger:hover,.sd-btn-danger:focus{color:var(--sd-color-danger-text) !important;background-color:var(--sd-color-danger-highlight) !important;border-color:var(--sd-color-danger-highlight) !important;border-width:1px !important;border-style:solid !important}.sd-btn-outline-danger{color:var(--sd-color-danger) !important;border-color:var(--sd-color-danger) !important;border-width:1px !important;border-style:solid !important}.sd-btn-light,.sd-btn-outline-light:hover,.sd-btn-outline-light:focus{color:var(--sd-color-light-text) !important;background-color:var(--sd-color-light) !important;border-color:var(--sd-color-light) !important;border-width:1px !important;border-style:solid !important}.sd-btn-light:hover,.sd-btn-light:focus{color:var(--sd-color-light-text) !important;background-color:var(--sd-color-light-highlight) !important;border-color:var(--sd-color-light-highlight) !important;border-width:1px !important;border-style:solid !important}.sd-btn-outline-light{color:var(--sd-color-light) !important;border-color:var(--sd-color-light) !important;border-width:1px !important;border-style:solid !important}.sd-btn-muted,.sd-btn-outline-muted:hover,.sd-btn-outline-muted:focus{color:var(--sd-color-muted-text) !important;background-color:var(--sd-color-muted) !important;border-color:var(--sd-color-muted) !important;border-width:1px !important;border-style:solid !important}.sd-btn-muted:hover,.sd-btn-muted:focus{color:var(--sd-color-muted-text) !important;background-color:var(--sd-color-muted-highlight) !important;border-color:var(--sd-color-muted-highlight) !important;border-width:1px !important;border-style:solid !important}.sd-btn-outline-muted{color:var(--sd-color-muted) !important;border-color:var(--sd-color-muted) !important;border-width:1px !important;border-style:solid !important}.sd-btn-dark,.sd-btn-outline-dark:hover,.sd-btn-outline-dark:focus{color:var(--sd-color-dark-text) !important;background-color:var(--sd-color-dark) !important;border-color:var(--sd-color-dark) !important;border-width:1px !important;border-style:solid !important}.sd-btn-dark:hover,.sd-btn-dark:focus{color:var(--sd-color-dark-text) !important;background-color:var(--sd-color-dark-highlight) !important;border-color:var(--sd-color-dark-highlight) !important;border-width:1px !important;border-style:solid !important}.sd-btn-outline-dark{color:var(--sd-color-dark) !important;border-color:var(--sd-color-dark) !important;border-width:1px !important;border-style:solid !important}.sd-btn-black,.sd-btn-outline-black:hover,.sd-btn-outline-black:focus{color:var(--sd-color-black-text) !important;background-color:var(--sd-color-black) !important;border-color:var(--sd-color-black) !important;border-width:1px !important;border-style:solid !important}.sd-btn-black:hover,.sd-btn-black:focus{color:var(--sd-color-black-text) !important;background-color:var(--sd-color-black-highlight) !important;border-color:var(--sd-color-black-highlight) !important;border-width:1px !important;border-style:solid !important}.sd-btn-outline-black{color:var(--sd-color-black) !important;border-color:var(--sd-color-black) !important;border-width:1px !important;border-style:solid !important}.sd-btn-white,.sd-btn-outline-white:hover,.sd-btn-outline-white:focus{color:var(--sd-color-white-text) !important;background-color:var(--sd-color-white) !important;border-color:var(--sd-color-white) !important;border-width:1px !important;border-style:solid !important}.sd-btn-white:hover,.sd-btn-white:focus{color:var(--sd-color-white-text) !important;background-color:var(--sd-color-white-highlight) !important;border-color:var(--sd-color-white-highlight) !important;border-width:1px !important;border-style:solid !important}.sd-btn-outline-white{color:var(--sd-color-white) !important;border-color:var(--sd-color-white) !important;border-width:1px !important;border-style:solid !important}.sd-stretched-link::after{position:absolute;top:0;right:0;bottom:0;left:0;z-index:1;content:""}.sd-hide-link-text{font-size:0}.sd-octicon,.sd-material-icon{display:inline-block;fill:currentColor;vertical-align:middle}.sd-avatar-xs{border-radius:50%;object-fit:cover;object-position:center;width:1rem;height:1rem}.sd-avatar-sm{border-radius:50%;object-fit:cover;object-position:center;width:3rem;height:3rem}.sd-avatar-md{border-radius:50%;object-fit:cover;object-position:center;width:5rem;height:5rem}.sd-avatar-lg{border-radius:50%;object-fit:cover;object-position:center;width:7rem;height:7rem}.sd-avatar-xl{border-radius:50%;object-fit:cover;object-position:center;width:10rem;height:10rem}.sd-avatar-inherit{border-radius:50%;object-fit:cover;object-position:center;width:inherit;height:inherit}.sd-avatar-initial{border-radius:50%;object-fit:cover;object-position:center;width:initial;height:initial}.sd-card{background-clip:border-box;background-color:var(--sd-color-card-background);border:1px solid var(--sd-color-card-border);border-radius:.25rem;color:var(--sd-color-card-text);display:-ms-flexbox;display:flex;-ms-flex-direction:column;flex-direction:column;min-width:0;position:relative;word-wrap:break-word}.sd-card>hr{margin-left:0;margin-right:0}.sd-card-hover:hover{border-color:var(--sd-color-card-border-hover);transform:scale(1.01)}.sd-card-body{-ms-flex:1 1 auto;flex:1 1 auto;padding:1rem 1rem}.sd-card-title{margin-bottom:.5rem}.sd-card-subtitle{margin-top:-0.25rem;margin-bottom:0}.sd-card-text:last-child{margin-bottom:0}.sd-card-link:hover{text-decoration:none}.sd-card-link+.card-link{margin-left:1rem}.sd-card-header{padding:.5rem 1rem;margin-bottom:0;background-color:var(--sd-color-card-header);border-bottom:1px solid var(--sd-color-card-border)}.sd-card-header:first-child{border-radius:calc(0.25rem - 1px) calc(0.25rem - 1px) 0 0}.sd-card-footer{padding:.5rem 1rem;background-color:var(--sd-color-card-footer);border-top:1px solid var(--sd-color-card-border)}.sd-card-footer:last-child{border-radius:0 0 calc(0.25rem - 1px) calc(0.25rem - 1px)}.sd-card-header-tabs{margin-right:-0.5rem;margin-bottom:-0.5rem;margin-left:-0.5rem;border-bottom:0}.sd-card-header-pills{margin-right:-0.5rem;margin-left:-0.5rem}.sd-card-img-overlay{position:absolute;top:0;right:0;bottom:0;left:0;padding:1rem;border-radius:calc(0.25rem - 1px)}.sd-card-img,.sd-card-img-bottom,.sd-card-img-top{width:100%}.sd-card-img,.sd-card-img-top{border-top-left-radius:calc(0.25rem - 1px);border-top-right-radius:calc(0.25rem - 1px)}.sd-card-img,.sd-card-img-bottom{border-bottom-left-radius:calc(0.25rem - 1px);border-bottom-right-radius:calc(0.25rem - 1px)}.sd-cards-carousel{width:100%;display:flex;flex-wrap:nowrap;-ms-flex-direction:row;flex-direction:row;overflow-x:hidden;scroll-snap-type:x mandatory}.sd-cards-carousel.sd-show-scrollbar{overflow-x:auto}.sd-cards-carousel:hover,.sd-cards-carousel:focus{overflow-x:auto}.sd-cards-carousel>.sd-card{flex-shrink:0;scroll-snap-align:start}.sd-cards-carousel>.sd-card:not(:last-child){margin-right:3px}.sd-card-cols-1>.sd-card{width:90%}.sd-card-cols-2>.sd-card{width:45%}.sd-card-cols-3>.sd-card{width:30%}.sd-card-cols-4>.sd-card{width:22.5%}.sd-card-cols-5>.sd-card{width:18%}.sd-card-cols-6>.sd-card{width:15%}.sd-card-cols-7>.sd-card{width:12.8571428571%}.sd-card-cols-8>.sd-card{width:11.25%}.sd-card-cols-9>.sd-card{width:10%}.sd-card-cols-10>.sd-card{width:9%}.sd-card-cols-11>.sd-card{width:8.1818181818%}.sd-card-cols-12>.sd-card{width:7.5%}.sd-container,.sd-container-fluid,.sd-container-lg,.sd-container-md,.sd-container-sm,.sd-container-xl{margin-left:auto;margin-right:auto;padding-left:var(--sd-gutter-x, 0.75rem);padding-right:var(--sd-gutter-x, 0.75rem);width:100%}@media(min-width: 576px){.sd-container-sm,.sd-container{max-width:540px}}@media(min-width: 768px){.sd-container-md,.sd-container-sm,.sd-container{max-width:720px}}@media(min-width: 992px){.sd-container-lg,.sd-container-md,.sd-container-sm,.sd-container{max-width:960px}}@media(min-width: 1200px){.sd-container-xl,.sd-container-lg,.sd-container-md,.sd-container-sm,.sd-container{max-width:1140px}}.sd-row{--sd-gutter-x: 1.5rem;--sd-gutter-y: 0;display:-ms-flexbox;display:flex;-ms-flex-wrap:wrap;flex-wrap:wrap;margin-top:calc(var(--sd-gutter-y) * -1);margin-right:calc(var(--sd-gutter-x) * -0.5);margin-left:calc(var(--sd-gutter-x) * -0.5)}.sd-row>*{box-sizing:border-box;flex-shrink:0;width:100%;max-width:100%;padding-right:calc(var(--sd-gutter-x) * 0.5);padding-left:calc(var(--sd-gutter-x) * 0.5);margin-top:var(--sd-gutter-y)}.sd-col{flex:1 0 0%;-ms-flex:1 0 0%}.sd-row-cols-auto>*{flex:0 0 auto;width:auto}.sd-row-cols-1>*{flex:0 0 auto;-ms-flex:0 0 auto;width:100%}.sd-row-cols-2>*{flex:0 0 auto;-ms-flex:0 0 auto;width:50%}.sd-row-cols-3>*{flex:0 0 auto;-ms-flex:0 0 auto;width:33.3333333333%}.sd-row-cols-4>*{flex:0 0 auto;-ms-flex:0 0 auto;width:25%}.sd-row-cols-5>*{flex:0 0 auto;-ms-flex:0 0 auto;width:20%}.sd-row-cols-6>*{flex:0 0 auto;-ms-flex:0 0 auto;width:16.6666666667%}.sd-row-cols-7>*{flex:0 0 auto;-ms-flex:0 0 auto;width:14.2857142857%}.sd-row-cols-8>*{flex:0 0 auto;-ms-flex:0 0 auto;width:12.5%}.sd-row-cols-9>*{flex:0 0 auto;-ms-flex:0 0 auto;width:11.1111111111%}.sd-row-cols-10>*{flex:0 0 auto;-ms-flex:0 0 auto;width:10%}.sd-row-cols-11>*{flex:0 0 auto;-ms-flex:0 0 auto;width:9.0909090909%}.sd-row-cols-12>*{flex:0 0 auto;-ms-flex:0 0 auto;width:8.3333333333%}@media(min-width: 576px){.sd-col-sm{flex:1 0 0%;-ms-flex:1 0 0%}.sd-row-cols-sm-auto{flex:1 0 auto;-ms-flex:1 0 auto;width:100%}.sd-row-cols-sm-1>*{flex:0 0 auto;-ms-flex:0 0 auto;width:100%}.sd-row-cols-sm-2>*{flex:0 0 auto;-ms-flex:0 0 auto;width:50%}.sd-row-cols-sm-3>*{flex:0 0 auto;-ms-flex:0 0 auto;width:33.3333333333%}.sd-row-cols-sm-4>*{flex:0 0 auto;-ms-flex:0 0 auto;width:25%}.sd-row-cols-sm-5>*{flex:0 0 auto;-ms-flex:0 0 auto;width:20%}.sd-row-cols-sm-6>*{flex:0 0 auto;-ms-flex:0 0 auto;width:16.6666666667%}.sd-row-cols-sm-7>*{flex:0 0 auto;-ms-flex:0 0 auto;width:14.2857142857%}.sd-row-cols-sm-8>*{flex:0 0 auto;-ms-flex:0 0 auto;width:12.5%}.sd-row-cols-sm-9>*{flex:0 0 auto;-ms-flex:0 0 auto;width:11.1111111111%}.sd-row-cols-sm-10>*{flex:0 0 auto;-ms-flex:0 0 auto;width:10%}.sd-row-cols-sm-11>*{flex:0 0 auto;-ms-flex:0 0 auto;width:9.0909090909%}.sd-row-cols-sm-12>*{flex:0 0 auto;-ms-flex:0 0 auto;width:8.3333333333%}}@media(min-width: 768px){.sd-col-md{flex:1 0 0%;-ms-flex:1 0 0%}.sd-row-cols-md-auto{flex:1 0 auto;-ms-flex:1 0 auto;width:100%}.sd-row-cols-md-1>*{flex:0 0 auto;-ms-flex:0 0 auto;width:100%}.sd-row-cols-md-2>*{flex:0 0 auto;-ms-flex:0 0 auto;width:50%}.sd-row-cols-md-3>*{flex:0 0 auto;-ms-flex:0 0 auto;width:33.3333333333%}.sd-row-cols-md-4>*{flex:0 0 auto;-ms-flex:0 0 auto;width:25%}.sd-row-cols-md-5>*{flex:0 0 auto;-ms-flex:0 0 auto;width:20%}.sd-row-cols-md-6>*{flex:0 0 auto;-ms-flex:0 0 auto;width:16.6666666667%}.sd-row-cols-md-7>*{flex:0 0 auto;-ms-flex:0 0 auto;width:14.2857142857%}.sd-row-cols-md-8>*{flex:0 0 auto;-ms-flex:0 0 auto;width:12.5%}.sd-row-cols-md-9>*{flex:0 0 auto;-ms-flex:0 0 auto;width:11.1111111111%}.sd-row-cols-md-10>*{flex:0 0 auto;-ms-flex:0 0 auto;width:10%}.sd-row-cols-md-11>*{flex:0 0 auto;-ms-flex:0 0 auto;width:9.0909090909%}.sd-row-cols-md-12>*{flex:0 0 auto;-ms-flex:0 0 auto;width:8.3333333333%}}@media(min-width: 992px){.sd-col-lg{flex:1 0 0%;-ms-flex:1 0 0%}.sd-row-cols-lg-auto{flex:1 0 auto;-ms-flex:1 0 auto;width:100%}.sd-row-cols-lg-1>*{flex:0 0 auto;-ms-flex:0 0 auto;width:100%}.sd-row-cols-lg-2>*{flex:0 0 auto;-ms-flex:0 0 auto;width:50%}.sd-row-cols-lg-3>*{flex:0 0 auto;-ms-flex:0 0 auto;width:33.3333333333%}.sd-row-cols-lg-4>*{flex:0 0 auto;-ms-flex:0 0 auto;width:25%}.sd-row-cols-lg-5>*{flex:0 0 auto;-ms-flex:0 0 auto;width:20%}.sd-row-cols-lg-6>*{flex:0 0 auto;-ms-flex:0 0 auto;width:16.6666666667%}.sd-row-cols-lg-7>*{flex:0 0 auto;-ms-flex:0 0 auto;width:14.2857142857%}.sd-row-cols-lg-8>*{flex:0 0 auto;-ms-flex:0 0 auto;width:12.5%}.sd-row-cols-lg-9>*{flex:0 0 auto;-ms-flex:0 0 auto;width:11.1111111111%}.sd-row-cols-lg-10>*{flex:0 0 auto;-ms-flex:0 0 auto;width:10%}.sd-row-cols-lg-11>*{flex:0 0 auto;-ms-flex:0 0 auto;width:9.0909090909%}.sd-row-cols-lg-12>*{flex:0 0 auto;-ms-flex:0 0 auto;width:8.3333333333%}}@media(min-width: 1200px){.sd-col-xl{flex:1 0 0%;-ms-flex:1 0 0%}.sd-row-cols-xl-auto{flex:1 0 auto;-ms-flex:1 0 auto;width:100%}.sd-row-cols-xl-1>*{flex:0 0 auto;-ms-flex:0 0 auto;width:100%}.sd-row-cols-xl-2>*{flex:0 0 auto;-ms-flex:0 0 auto;width:50%}.sd-row-cols-xl-3>*{flex:0 0 auto;-ms-flex:0 0 auto;width:33.3333333333%}.sd-row-cols-xl-4>*{flex:0 0 auto;-ms-flex:0 0 auto;width:25%}.sd-row-cols-xl-5>*{flex:0 0 auto;-ms-flex:0 0 auto;width:20%}.sd-row-cols-xl-6>*{flex:0 0 auto;-ms-flex:0 0 auto;width:16.6666666667%}.sd-row-cols-xl-7>*{flex:0 0 auto;-ms-flex:0 0 auto;width:14.2857142857%}.sd-row-cols-xl-8>*{flex:0 0 auto;-ms-flex:0 0 auto;width:12.5%}.sd-row-cols-xl-9>*{flex:0 0 auto;-ms-flex:0 0 auto;width:11.1111111111%}.sd-row-cols-xl-10>*{flex:0 0 auto;-ms-flex:0 0 auto;width:10%}.sd-row-cols-xl-11>*{flex:0 0 auto;-ms-flex:0 0 auto;width:9.0909090909%}.sd-row-cols-xl-12>*{flex:0 0 auto;-ms-flex:0 0 auto;width:8.3333333333%}}.sd-col-auto{flex:0 0 auto;-ms-flex:0 0 auto;width:auto}.sd-col-1{flex:0 0 auto;-ms-flex:0 0 auto;width:8.3333333333%}.sd-col-2{flex:0 0 auto;-ms-flex:0 0 auto;width:16.6666666667%}.sd-col-3{flex:0 0 auto;-ms-flex:0 0 auto;width:25%}.sd-col-4{flex:0 0 auto;-ms-flex:0 0 auto;width:33.3333333333%}.sd-col-5{flex:0 0 auto;-ms-flex:0 0 auto;width:41.6666666667%}.sd-col-6{flex:0 0 auto;-ms-flex:0 0 auto;width:50%}.sd-col-7{flex:0 0 auto;-ms-flex:0 0 auto;width:58.3333333333%}.sd-col-8{flex:0 0 auto;-ms-flex:0 0 auto;width:66.6666666667%}.sd-col-9{flex:0 0 auto;-ms-flex:0 0 auto;width:75%}.sd-col-10{flex:0 0 auto;-ms-flex:0 0 auto;width:83.3333333333%}.sd-col-11{flex:0 0 auto;-ms-flex:0 0 auto;width:91.6666666667%}.sd-col-12{flex:0 0 auto;-ms-flex:0 0 auto;width:100%}.sd-g-0,.sd-gy-0{--sd-gutter-y: 0}.sd-g-0,.sd-gx-0{--sd-gutter-x: 0}.sd-g-1,.sd-gy-1{--sd-gutter-y: 0.25rem}.sd-g-1,.sd-gx-1{--sd-gutter-x: 0.25rem}.sd-g-2,.sd-gy-2{--sd-gutter-y: 0.5rem}.sd-g-2,.sd-gx-2{--sd-gutter-x: 0.5rem}.sd-g-3,.sd-gy-3{--sd-gutter-y: 1rem}.sd-g-3,.sd-gx-3{--sd-gutter-x: 1rem}.sd-g-4,.sd-gy-4{--sd-gutter-y: 1.5rem}.sd-g-4,.sd-gx-4{--sd-gutter-x: 1.5rem}.sd-g-5,.sd-gy-5{--sd-gutter-y: 3rem}.sd-g-5,.sd-gx-5{--sd-gutter-x: 3rem}@media(min-width: 576px){.sd-col-sm-auto{-ms-flex:0 0 auto;flex:0 0 auto;width:auto}.sd-col-sm-1{-ms-flex:0 0 auto;flex:0 0 auto;width:8.3333333333%}.sd-col-sm-2{-ms-flex:0 0 auto;flex:0 0 auto;width:16.6666666667%}.sd-col-sm-3{-ms-flex:0 0 auto;flex:0 0 auto;width:25%}.sd-col-sm-4{-ms-flex:0 0 auto;flex:0 0 auto;width:33.3333333333%}.sd-col-sm-5{-ms-flex:0 0 auto;flex:0 0 auto;width:41.6666666667%}.sd-col-sm-6{-ms-flex:0 0 auto;flex:0 0 auto;width:50%}.sd-col-sm-7{-ms-flex:0 0 auto;flex:0 0 auto;width:58.3333333333%}.sd-col-sm-8{-ms-flex:0 0 auto;flex:0 0 auto;width:66.6666666667%}.sd-col-sm-9{-ms-flex:0 0 auto;flex:0 0 auto;width:75%}.sd-col-sm-10{-ms-flex:0 0 auto;flex:0 0 auto;width:83.3333333333%}.sd-col-sm-11{-ms-flex:0 0 auto;flex:0 0 auto;width:91.6666666667%}.sd-col-sm-12{-ms-flex:0 0 auto;flex:0 0 auto;width:100%}.sd-g-sm-0,.sd-gy-sm-0{--sd-gutter-y: 0}.sd-g-sm-0,.sd-gx-sm-0{--sd-gutter-x: 0}.sd-g-sm-1,.sd-gy-sm-1{--sd-gutter-y: 0.25rem}.sd-g-sm-1,.sd-gx-sm-1{--sd-gutter-x: 0.25rem}.sd-g-sm-2,.sd-gy-sm-2{--sd-gutter-y: 0.5rem}.sd-g-sm-2,.sd-gx-sm-2{--sd-gutter-x: 0.5rem}.sd-g-sm-3,.sd-gy-sm-3{--sd-gutter-y: 1rem}.sd-g-sm-3,.sd-gx-sm-3{--sd-gutter-x: 1rem}.sd-g-sm-4,.sd-gy-sm-4{--sd-gutter-y: 1.5rem}.sd-g-sm-4,.sd-gx-sm-4{--sd-gutter-x: 1.5rem}.sd-g-sm-5,.sd-gy-sm-5{--sd-gutter-y: 3rem}.sd-g-sm-5,.sd-gx-sm-5{--sd-gutter-x: 3rem}}@media(min-width: 768px){.sd-col-md-auto{-ms-flex:0 0 auto;flex:0 0 auto;width:auto}.sd-col-md-1{-ms-flex:0 0 auto;flex:0 0 auto;width:8.3333333333%}.sd-col-md-2{-ms-flex:0 0 auto;flex:0 0 auto;width:16.6666666667%}.sd-col-md-3{-ms-flex:0 0 auto;flex:0 0 auto;width:25%}.sd-col-md-4{-ms-flex:0 0 auto;flex:0 0 auto;width:33.3333333333%}.sd-col-md-5{-ms-flex:0 0 auto;flex:0 0 auto;width:41.6666666667%}.sd-col-md-6{-ms-flex:0 0 auto;flex:0 0 auto;width:50%}.sd-col-md-7{-ms-flex:0 0 auto;flex:0 0 auto;width:58.3333333333%}.sd-col-md-8{-ms-flex:0 0 auto;flex:0 0 auto;width:66.6666666667%}.sd-col-md-9{-ms-flex:0 0 auto;flex:0 0 auto;width:75%}.sd-col-md-10{-ms-flex:0 0 auto;flex:0 0 auto;width:83.3333333333%}.sd-col-md-11{-ms-flex:0 0 auto;flex:0 0 auto;width:91.6666666667%}.sd-col-md-12{-ms-flex:0 0 auto;flex:0 0 auto;width:100%}.sd-g-md-0,.sd-gy-md-0{--sd-gutter-y: 0}.sd-g-md-0,.sd-gx-md-0{--sd-gutter-x: 0}.sd-g-md-1,.sd-gy-md-1{--sd-gutter-y: 0.25rem}.sd-g-md-1,.sd-gx-md-1{--sd-gutter-x: 0.25rem}.sd-g-md-2,.sd-gy-md-2{--sd-gutter-y: 0.5rem}.sd-g-md-2,.sd-gx-md-2{--sd-gutter-x: 0.5rem}.sd-g-md-3,.sd-gy-md-3{--sd-gutter-y: 1rem}.sd-g-md-3,.sd-gx-md-3{--sd-gutter-x: 1rem}.sd-g-md-4,.sd-gy-md-4{--sd-gutter-y: 1.5rem}.sd-g-md-4,.sd-gx-md-4{--sd-gutter-x: 1.5rem}.sd-g-md-5,.sd-gy-md-5{--sd-gutter-y: 3rem}.sd-g-md-5,.sd-gx-md-5{--sd-gutter-x: 3rem}}@media(min-width: 992px){.sd-col-lg-auto{-ms-flex:0 0 auto;flex:0 0 auto;width:auto}.sd-col-lg-1{-ms-flex:0 0 auto;flex:0 0 auto;width:8.3333333333%}.sd-col-lg-2{-ms-flex:0 0 auto;flex:0 0 auto;width:16.6666666667%}.sd-col-lg-3{-ms-flex:0 0 auto;flex:0 0 auto;width:25%}.sd-col-lg-4{-ms-flex:0 0 auto;flex:0 0 auto;width:33.3333333333%}.sd-col-lg-5{-ms-flex:0 0 auto;flex:0 0 auto;width:41.6666666667%}.sd-col-lg-6{-ms-flex:0 0 auto;flex:0 0 auto;width:50%}.sd-col-lg-7{-ms-flex:0 0 auto;flex:0 0 auto;width:58.3333333333%}.sd-col-lg-8{-ms-flex:0 0 auto;flex:0 0 auto;width:66.6666666667%}.sd-col-lg-9{-ms-flex:0 0 auto;flex:0 0 auto;width:75%}.sd-col-lg-10{-ms-flex:0 0 auto;flex:0 0 auto;width:83.3333333333%}.sd-col-lg-11{-ms-flex:0 0 auto;flex:0 0 auto;width:91.6666666667%}.sd-col-lg-12{-ms-flex:0 0 auto;flex:0 0 auto;width:100%}.sd-g-lg-0,.sd-gy-lg-0{--sd-gutter-y: 0}.sd-g-lg-0,.sd-gx-lg-0{--sd-gutter-x: 0}.sd-g-lg-1,.sd-gy-lg-1{--sd-gutter-y: 0.25rem}.sd-g-lg-1,.sd-gx-lg-1{--sd-gutter-x: 0.25rem}.sd-g-lg-2,.sd-gy-lg-2{--sd-gutter-y: 0.5rem}.sd-g-lg-2,.sd-gx-lg-2{--sd-gutter-x: 0.5rem}.sd-g-lg-3,.sd-gy-lg-3{--sd-gutter-y: 1rem}.sd-g-lg-3,.sd-gx-lg-3{--sd-gutter-x: 1rem}.sd-g-lg-4,.sd-gy-lg-4{--sd-gutter-y: 1.5rem}.sd-g-lg-4,.sd-gx-lg-4{--sd-gutter-x: 1.5rem}.sd-g-lg-5,.sd-gy-lg-5{--sd-gutter-y: 3rem}.sd-g-lg-5,.sd-gx-lg-5{--sd-gutter-x: 3rem}}@media(min-width: 1200px){.sd-col-xl-auto{-ms-flex:0 0 auto;flex:0 0 auto;width:auto}.sd-col-xl-1{-ms-flex:0 0 auto;flex:0 0 auto;width:8.3333333333%}.sd-col-xl-2{-ms-flex:0 0 auto;flex:0 0 auto;width:16.6666666667%}.sd-col-xl-3{-ms-flex:0 0 auto;flex:0 0 auto;width:25%}.sd-col-xl-4{-ms-flex:0 0 auto;flex:0 0 auto;width:33.3333333333%}.sd-col-xl-5{-ms-flex:0 0 auto;flex:0 0 auto;width:41.6666666667%}.sd-col-xl-6{-ms-flex:0 0 auto;flex:0 0 auto;width:50%}.sd-col-xl-7{-ms-flex:0 0 auto;flex:0 0 auto;width:58.3333333333%}.sd-col-xl-8{-ms-flex:0 0 auto;flex:0 0 auto;width:66.6666666667%}.sd-col-xl-9{-ms-flex:0 0 auto;flex:0 0 auto;width:75%}.sd-col-xl-10{-ms-flex:0 0 auto;flex:0 0 auto;width:83.3333333333%}.sd-col-xl-11{-ms-flex:0 0 auto;flex:0 0 auto;width:91.6666666667%}.sd-col-xl-12{-ms-flex:0 0 auto;flex:0 0 auto;width:100%}.sd-g-xl-0,.sd-gy-xl-0{--sd-gutter-y: 0}.sd-g-xl-0,.sd-gx-xl-0{--sd-gutter-x: 0}.sd-g-xl-1,.sd-gy-xl-1{--sd-gutter-y: 0.25rem}.sd-g-xl-1,.sd-gx-xl-1{--sd-gutter-x: 0.25rem}.sd-g-xl-2,.sd-gy-xl-2{--sd-gutter-y: 0.5rem}.sd-g-xl-2,.sd-gx-xl-2{--sd-gutter-x: 0.5rem}.sd-g-xl-3,.sd-gy-xl-3{--sd-gutter-y: 1rem}.sd-g-xl-3,.sd-gx-xl-3{--sd-gutter-x: 1rem}.sd-g-xl-4,.sd-gy-xl-4{--sd-gutter-y: 1.5rem}.sd-g-xl-4,.sd-gx-xl-4{--sd-gutter-x: 1.5rem}.sd-g-xl-5,.sd-gy-xl-5{--sd-gutter-y: 3rem}.sd-g-xl-5,.sd-gx-xl-5{--sd-gutter-x: 3rem}}.sd-flex-row-reverse{flex-direction:row-reverse !important}details.sd-dropdown{position:relative;font-size:var(--sd-fontsize-dropdown)}details.sd-dropdown:hover{cursor:pointer}details.sd-dropdown .sd-summary-content{cursor:default}details.sd-dropdown summary.sd-summary-title{padding:.5em 1em;font-size:var(--sd-fontsize-dropdown-title);font-weight:var(--sd-fontweight-dropdown-title);user-select:none;-moz-user-select:none;-ms-user-select:none;-webkit-user-select:none;list-style:none;display:inline-flex;justify-content:space-between}details.sd-dropdown summary.sd-summary-title::-webkit-details-marker{display:none}details.sd-dropdown summary.sd-summary-title:focus{outline:none}details.sd-dropdown summary.sd-summary-title .sd-summary-icon{margin-right:.6em;display:inline-flex;align-items:center}details.sd-dropdown summary.sd-summary-title .sd-summary-icon svg{opacity:.8}details.sd-dropdown summary.sd-summary-title .sd-summary-text{flex-grow:1;line-height:1.5;padding-right:.5rem}details.sd-dropdown summary.sd-summary-title .sd-summary-state-marker{pointer-events:none;display:inline-flex;align-items:center}details.sd-dropdown summary.sd-summary-title .sd-summary-state-marker svg{opacity:.6}details.sd-dropdown summary.sd-summary-title:hover .sd-summary-state-marker svg{opacity:1;transform:scale(1.1)}details.sd-dropdown[open] summary .sd-octicon.no-title{visibility:hidden}details.sd-dropdown .sd-summary-chevron-right{transition:.25s}details.sd-dropdown[open]>.sd-summary-title .sd-summary-chevron-right{transform:rotate(90deg)}details.sd-dropdown[open]>.sd-summary-title .sd-summary-chevron-down{transform:rotate(180deg)}details.sd-dropdown:not([open]).sd-card{border:none}details.sd-dropdown:not([open])>.sd-card-header{border:1px solid var(--sd-color-card-border);border-radius:.25rem}details.sd-dropdown.sd-fade-in[open] summary~*{-moz-animation:sd-fade-in .5s ease-in-out;-webkit-animation:sd-fade-in .5s ease-in-out;animation:sd-fade-in .5s ease-in-out}details.sd-dropdown.sd-fade-in-slide-down[open] summary~*{-moz-animation:sd-fade-in .5s ease-in-out,sd-slide-down .5s ease-in-out;-webkit-animation:sd-fade-in .5s ease-in-out,sd-slide-down .5s ease-in-out;animation:sd-fade-in .5s ease-in-out,sd-slide-down .5s ease-in-out}.sd-col>.sd-dropdown{width:100%}.sd-summary-content>.sd-tab-set:first-child{margin-top:0}@keyframes sd-fade-in{0%{opacity:0}100%{opacity:1}}@keyframes sd-slide-down{0%{transform:translate(0, -10px)}100%{transform:translate(0, 0)}}.sd-tab-set{border-radius:.125rem;display:flex;flex-wrap:wrap;margin:1em 0;position:relative}.sd-tab-set>input{opacity:0;position:absolute}.sd-tab-set>input:checked+label{border-color:var(--sd-color-tabs-underline-active);color:var(--sd-color-tabs-label-active)}.sd-tab-set>input:checked+label+.sd-tab-content{display:block}.sd-tab-set>input:not(:checked)+label:hover{color:var(--sd-color-tabs-label-hover);border-color:var(--sd-color-tabs-underline-hover)}.sd-tab-set>input:focus+label{outline-style:auto}.sd-tab-set>input:not(.focus-visible)+label{outline:none;-webkit-tap-highlight-color:transparent}.sd-tab-set>label{border-bottom:.125rem solid transparent;margin-bottom:0;color:var(--sd-color-tabs-label-inactive);border-color:var(--sd-color-tabs-underline-inactive);cursor:pointer;font-size:var(--sd-fontsize-tabs-label);font-weight:700;padding:1em 1.25em .5em;transition:color 250ms;width:auto;z-index:1}html .sd-tab-set>label:hover{color:var(--sd-color-tabs-label-active)}.sd-col>.sd-tab-set{width:100%}.sd-tab-content{box-shadow:0 -0.0625rem var(--sd-color-tabs-overline),0 .0625rem var(--sd-color-tabs-underline);display:none;order:99;padding-bottom:.75rem;padding-top:.75rem;width:100%}.sd-tab-content>:first-child{margin-top:0 !important}.sd-tab-content>:last-child{margin-bottom:0 !important}.sd-tab-content>.sd-tab-set{margin:0}.sd-sphinx-override,.sd-sphinx-override *{-moz-box-sizing:border-box;-webkit-box-sizing:border-box;box-sizing:border-box}.sd-sphinx-override p{margin-top:0}:root{--sd-color-primary: #0071bc;--sd-color-secondary: #6c757d;--sd-color-success: #28a745;--sd-color-info: #17a2b8;--sd-color-warning: #f0b37e;--sd-color-danger: #dc3545;--sd-color-light: #f8f9fa;--sd-color-muted: #6c757d;--sd-color-dark: #212529;--sd-color-black: black;--sd-color-white: white;--sd-color-primary-highlight: #0060a0;--sd-color-secondary-highlight: #5c636a;--sd-color-success-highlight: #228e3b;--sd-color-info-highlight: #148a9c;--sd-color-warning-highlight: #cc986b;--sd-color-danger-highlight: #bb2d3b;--sd-color-light-highlight: #d3d4d5;--sd-color-muted-highlight: #5c636a;--sd-color-dark-highlight: #1c1f23;--sd-color-black-highlight: black;--sd-color-white-highlight: #d9d9d9;--sd-color-primary-bg: rgba(0, 113, 188, 0.2);--sd-color-secondary-bg: rgba(108, 117, 125, 0.2);--sd-color-success-bg: rgba(40, 167, 69, 0.2);--sd-color-info-bg: rgba(23, 162, 184, 0.2);--sd-color-warning-bg: rgba(240, 179, 126, 0.2);--sd-color-danger-bg: rgba(220, 53, 69, 0.2);--sd-color-light-bg: rgba(248, 249, 250, 0.2);--sd-color-muted-bg: rgba(108, 117, 125, 0.2);--sd-color-dark-bg: rgba(33, 37, 41, 0.2);--sd-color-black-bg: rgba(0, 0, 0, 0.2);--sd-color-white-bg: rgba(255, 255, 255, 0.2);--sd-color-primary-text: #fff;--sd-color-secondary-text: #fff;--sd-color-success-text: #fff;--sd-color-info-text: #fff;--sd-color-warning-text: #212529;--sd-color-danger-text: #fff;--sd-color-light-text: #212529;--sd-color-muted-text: #fff;--sd-color-dark-text: #fff;--sd-color-black-text: #fff;--sd-color-white-text: #212529;--sd-color-shadow: rgba(0, 0, 0, 0.15);--sd-color-card-border: rgba(0, 0, 0, 0.125);--sd-color-card-border-hover: hsla(231, 99%, 66%, 1);--sd-color-card-background: transparent;--sd-color-card-text: inherit;--sd-color-card-header: transparent;--sd-color-card-footer: transparent;--sd-color-tabs-label-active: hsla(231, 99%, 66%, 1);--sd-color-tabs-label-hover: hsla(231, 99%, 66%, 1);--sd-color-tabs-label-inactive: hsl(0, 0%, 66%);--sd-color-tabs-underline-active: hsla(231, 99%, 66%, 1);--sd-color-tabs-underline-hover: rgba(178, 206, 245, 0.62);--sd-color-tabs-underline-inactive: transparent;--sd-color-tabs-overline: rgb(222, 222, 222);--sd-color-tabs-underline: rgb(222, 222, 222);--sd-fontsize-tabs-label: 1rem;--sd-fontsize-dropdown: inherit;--sd-fontsize-dropdown-title: 1rem;--sd-fontweight-dropdown-title: 700} diff --git a/docs/_build/gettext/_static/twemoji.css b/docs/_build/gettext/_static/twemoji.css new file mode 100644 index 0000000000..878d070d16 --- /dev/null +++ b/docs/_build/gettext/_static/twemoji.css @@ -0,0 +1,6 @@ +img.emoji { + height: 1em; + width: 1em; + margin: 0 .05em 0 .1em; + vertical-align: -0.1em; +} diff --git a/docs/_build/gettext/_static/twemoji.js b/docs/_build/gettext/_static/twemoji.js new file mode 100644 index 0000000000..91bc868f4f --- /dev/null +++ b/docs/_build/gettext/_static/twemoji.js @@ -0,0 +1,10 @@ +function addEvent(element, eventName, fn) { + if (element.addEventListener) + element.addEventListener(eventName, fn, false); + else if (element.attachEvent) + element.attachEvent('on' + eventName, fn); +} + +addEvent(window, 'load', function() { + twemoji.parse(document.body, {'folder': 'svg', 'ext': '.svg'}); +}); diff --git a/docs/_build/gettext/index.pot b/docs/_build/gettext/index.pot new file mode 100644 index 0000000000..6563056014 --- /dev/null +++ b/docs/_build/gettext/index.pot @@ -0,0 +1,133 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 12:24+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../index.rst:58 +msgid "Getting Started" +msgstr "" + +#: ../../index.rst:69 +msgid "Features" +msgstr "" + +#: ../../index.rst:80 +msgid "Resources" +msgstr "" + +#: ../../index.rst:89 +msgid "Source API" +msgstr "" + +#: ../../index.rst:95 +msgid "Migration Guides" +msgstr "" + +#: ../../index.rst:104 +msgid "References" +msgstr "" + +#: ../../index.rst:115 +msgid "GitHub" +msgstr "" + +#: ../../index.rst:115 +msgid "NVIDIA Isaac Sim" +msgstr "" + +#: ../../index.rst:115 +msgid "NVIDIA PhysX" +msgstr "" + +#: ../../index.rst:115 +msgid "Project Links" +msgstr "" + +#: ../../index.rst:2 +msgid "Overview" +msgstr "" + +#: ../../index.rst:-1 +msgid "H1 Humanoid example using Isaac Lab" +msgstr "" + +#: ../../index.rst:8 +msgid "**Isaac Lab** is a unified and modular framework for robot learning that aims to simplify common workflows in robotics research (such as RL, learning from demonstrations, and motion planning). It is built upon `NVIDIA Isaac Sim`_ to leverage the latest simulation capabilities for photo-realistic scenes, and fast and efficient simulation. The core objectives of the framework are:" +msgstr "" + +#: ../../index.rst:13 +msgid "**Modularity**: Easily customize and add new environments, robots, and sensors." +msgstr "" + +#: ../../index.rst:14 +msgid "**Agility**: Adapt to the changing needs of the community." +msgstr "" + +#: ../../index.rst:15 +msgid "**Openness**: Remain open-sourced to allow the community to contribute and extend the framework." +msgstr "" + +#: ../../index.rst:16 +msgid "**Battery-included**: Include a number of environments, sensors, and tasks that are ready to use." +msgstr "" + +#: ../../index.rst:18 +msgid "Key features available in Isaac Lab include fast and accurate physics simulation provided by PhysX, tiled rendering APIs for vectorized rendering, domain randomization for improving robustness and adaptability, and support for running in the cloud." +msgstr "" + +#: ../../index.rst:22 +msgid "For more information about the framework, please refer to the `paper `_ :cite:`mittal2023orbit`. For clarifications on NVIDIA Isaac ecosystem, please check out the :doc:`/source/setup/faq` section." +msgstr "" + +#: ../../index.rst:-1 +msgid "Example tasks created using Isaac Lab" +msgstr "" + +#: ../../index.rst:32 +msgid "License" +msgstr "" + +#: ../../index.rst:34 +msgid "The Isaac Lab framework is open-sourced under the BSD-3-Clause license. Please refer to :ref:`license` for more details." +msgstr "" + +#: ../../index.rst:38 +msgid "Acknowledgement" +msgstr "" + +#: ../../index.rst:39 +msgid "Isaac Lab development initiated from the `Orbit `_ framework. We would appreciate if you would cite it in academic publications as well:" +msgstr "" + +#: ../../index.rst:56 +msgid "Table of Contents" +msgstr "" + +#: ../../index.rst:124 +msgid "Indices and tables" +msgstr "" + +#: ../../index.rst:126 +msgid ":ref:`genindex`" +msgstr "" + +#: ../../index.rst:127 +msgid ":ref:`modindex`" +msgstr "" + +#: ../../index.rst:128 +msgid ":ref:`search`" +msgstr "" diff --git a/docs/_build/gettext/source/api/index.pot b/docs/_build/gettext/source/api/index.pot new file mode 100644 index 0000000000..42788379f9 --- /dev/null +++ b/docs/_build/gettext/source/api/index.pot @@ -0,0 +1,153 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/index.rst:2 +msgid "API Reference" +msgstr "" + +#: ../../source/api/index.rst:4 +msgid "This page gives an overview of all the modules and classes in the Isaac Lab extensions." +msgstr "" + +#: ../../source/api/index.rst:7 +msgid "omni.isaac.lab extension" +msgstr "" + +#: ../../source/api/index.rst:9 +msgid "The following modules are available in the ``omni.isaac.lab`` extension:" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`app `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package containing app-specific functionalities." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`actuators `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package for different actuator models." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`assets `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package for different assets, such as rigid objects and articulations." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`controllers `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package for different controllers and motion-generators." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`devices `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package providing interfaces to different teleoperation devices." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`envs `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package for environment definitions." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`managers `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-module for environment managers." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`markers `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package for marker utilities to simplify creation of UI elements in the GUI." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`scene `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package containing an interactive scene definition." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`sensors `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package containing various sensor classes implementations." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`sim `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package containing simulation-specific functionalities." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`terrains `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package with utilities for creating terrains procedurally." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`utils `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package containing utilities for common operations and helper functions." +msgstr "" + +#: ../../source/api/index.rst:41 +msgid "omni.isaac.lab_tasks extension" +msgstr "" + +#: ../../source/api/index.rst:43 +msgid "The following modules are available in the ``omni.isaac.lab_tasks`` extension:" +msgstr "" + +#: ../../source/api/index.rst:52::1 +msgid ":py:obj:`utils `\\" +msgstr "" + +#: ../../source/api/index.rst:52::1 +msgid "Sub-package with utilities, data collectors and environment wrappers." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.actuators.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.actuators.pot new file mode 100644 index 0000000000..5698191aa4 --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.actuators.pot @@ -0,0 +1,1770 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:2 +msgid "omni.isaac.lab.actuators" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/__init__.py:docstring of omni.isaac.lab.actuators:1 +msgid "Sub-package for different actuator models." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/__init__.py:docstring of omni.isaac.lab.actuators:3 +msgid "Actuator models are used to model the behavior of the actuators in an articulation. These are usually meant to be used in simulation to model different actuator dynamics and delays." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/__init__.py:docstring of omni.isaac.lab.actuators:6 +msgid "There are two main categories of actuator models that are supported:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/__init__.py:docstring of omni.isaac.lab.actuators:8 +msgid "**Implicit**: Motor model with ideal PD from the physics engine. This is similar to having a continuous time PD controller. The motor model is implicit in the sense that the motor model is not explicitly defined by the user." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/__init__.py:docstring of omni.isaac.lab.actuators:10 +msgid "**Explicit**: Motor models based on physical drive models." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/__init__.py:docstring of omni.isaac.lab.actuators:12 +msgid "**Physics-based**: Derives the motor models based on first-principles." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/__init__.py:docstring of omni.isaac.lab.actuators:13 +msgid "**Neural Network-based**: Learned motor models from actuator data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/__init__.py:docstring of omni.isaac.lab.actuators:15 +msgid "Every actuator model inherits from the :class:`omni.isaac.lab.actuators.ActuatorBase` class, which defines the common interface for all actuator models. The actuator models are handled and called by the :class:`omni.isaac.lab.assets.Articulation` class." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`ActuatorBase `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase:1 +msgid "Base class for actuator models over a collection of actuated joints in an articulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`ActuatorBaseCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.ActuatorBaseCfg:1 +msgid "Configuration for default actuators in an articulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`ImplicitActuator `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1 +msgid "Implicit actuator model that is handled by the simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`ImplicitActuatorCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.ImplicitActuatorCfg:1 +msgid "Configuration for an implicit actuator." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`IdealPDActuator `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1 +msgid "Ideal torque-controlled actuator model with a simple saturation model." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`IdealPDActuatorCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.IdealPDActuatorCfg:1 +msgid "Configuration for an ideal PD actuator." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`DCMotor `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1 +msgid "Direct control (DC) motor actuator model with velocity-based saturation model." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`DCMotorCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.DCMotorCfg:1 +msgid "Configuration for direct control (DC) motor actuator model." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`DelayedPDActuator `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1 +msgid "Ideal PD actuator with delayed command application." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`DelayedPDActuatorCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.DelayedPDActuatorCfg:1 +msgid "Configuration for a delayed PD actuator." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`RemotizedPDActuator `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1 +msgid "Ideal PD actuator with angle-dependent torque limits." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`RemotizedPDActuatorCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.RemotizedPDActuatorCfg:1 +msgid "Configuration for a remotized PD actuator." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`ActuatorNetMLP `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1 +msgid "Actuator model based on multi-layer perceptron and joint history." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`ActuatorNetMLPCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.ActuatorNetMLPCfg:1 +msgid "Configuration for MLP-based actuator model." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`ActuatorNetLSTM `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1 +msgid "Actuator model based on recurrent neural network (LSTM)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`ActuatorNetLSTMCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.ActuatorNetLSTMCfg:1 +msgid "Configuration for LSTM-based actuator model." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:28 +msgid "Actuator Base" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase:3 +msgid "Actuator models augment the simulated articulation joints with an external drive dynamics model. The model is used to convert the user-provided joint commands (positions, velocities and efforts) into the desired joint positions, velocities and efforts that are applied to the simulated articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase:7 +msgid "The base class provides the interface for the actuator models. It is responsible for parsing the actuator parameters from the configuration and storing them as buffers. It also provides the interface for resetting the actuator state and computing the desired joint commands for the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase:11 +msgid "For each actuator model, a corresponding configuration class is provided. The configuration class is used to parse the actuator parameters from the configuration. It also specifies the joint names for which the actuator model is applied. These names can be specified as regular expressions, which are matched against the joint names in the articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase:16 +msgid "To see how the class is used, check the :class:`omni.isaac.lab.assets.Articulation` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, joint\\_names\\, joint\\_ids\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLP.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DCMotor.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DelayedPDActuator.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.IdealPDActuator.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.ImplicitActuator.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1::1 +msgid "Initialize the actuator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase:1::1 +msgid ":py:obj:`reset `\\ \\(env\\_ids\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLP.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DCMotor.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DelayedPDActuator.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.IdealPDActuator.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.ImplicitActuator.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1::1 +msgid "Reset the internals within the group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase:1::1 +msgid ":py:obj:`compute `\\ \\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLP.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DCMotor.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DelayedPDActuator.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.IdealPDActuator.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.compute:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1::1 +msgid "Process the actuator group actions and compute the articulation actions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.ActuatorBaseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.ActuatorNetLSTMCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.ActuatorNetMLPCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.DCMotorCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.DelayedPDActuatorCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.RemotizedPDActuatorCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The stiffness (P gain) of the PD controller." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The damping (D gain) of the PD controller." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The armature of the actuator joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The joint friction of the actuator joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`effort_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The effort limit for the actuator group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`velocity_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The velocity limit for the actuator group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`computed_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The computed effort for the actuator group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`applied_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The applied effort for the actuator group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`num_joints `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.ActuatorBase.num_joints:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.num_joints:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLP.num_joints:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DCMotor.num_joints:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DelayedPDActuator.num_joints:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.IdealPDActuator.num_joints:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.ImplicitActuator.num_joints:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.RemotizedPDActuator.num_joints:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "Number of actuators in the group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.ActuatorBase.joint_names:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.joint_names:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLP.joint_names:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DCMotor.joint_names:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DelayedPDActuator.joint_names:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.IdealPDActuator.joint_names:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.ImplicitActuator.joint_names:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.RemotizedPDActuator.joint_names:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.joint_names_expr:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.joint_names_expr:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.joint_names_expr:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuatorCfg.joint_names_expr:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuatorCfg.joint_names_expr:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr:1 +msgid "Articulation's joint names that are part of the group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`joint_indices `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.ActuatorBase.joint_indices:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.joint_indices:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLP.joint_indices:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DCMotor.joint_indices:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DelayedPDActuator.joint_indices:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.IdealPDActuator.joint_indices:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.ImplicitActuator.joint_indices:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.RemotizedPDActuator.joint_indices:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "Articulation's joint indices that are part of the group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:5 +msgid "The actuator parameters are parsed from the configuration and stored as buffers. If the parameters are not specified in the configuration, then the default values provided in the arguments are used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:8 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.cfg:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLP.cfg:1 +msgid "The configuration of the actuator model." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:9 +msgid "The joint names in the articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:10 +msgid "The joint indices in the articulation. If :obj:`slice(None)`, then all the joints in the articulation are part of the group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:12 +msgid "Number of articulations in the view." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:13 +msgid "Device used for processing." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:14 +msgid "The default joint stiffness (P gain). Defaults to 0.0. If a tensor, then the shape is (num_envs, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:16 +msgid "The default joint damping (D gain). Defaults to 0.0. If a tensor, then the shape is (num_envs, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:18 +msgid "The default joint armature. Defaults to 0.0. If a tensor, then the shape is (num_envs, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:20 +msgid "The default joint friction. Defaults to 0.0. If a tensor, then the shape is (num_envs, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:22 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:22 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:22 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:22 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:22 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:22 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:22 +msgid "The default effort limit. Defaults to infinity. If a tensor, then the shape is (num_envs, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:24 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:24 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:24 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:24 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:24 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:24 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:24 +msgid "The default velocity limit. Defaults to infinity. If a tensor, then the shape is (num_envs, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.stiffness:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.stiffness:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLP.stiffness:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotor.stiffness:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuator.stiffness:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuator.stiffness:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuator.stiffness:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuator.stiffness:1 +msgid "The stiffness (P gain) of the PD controller. Shape is (num_envs, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.damping:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.damping:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLP.damping:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotor.damping:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuator.damping:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuator.damping:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuator.damping:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuator.damping:1 +msgid "The damping (D gain) of the PD controller. Shape is (num_envs, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.armature:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.armature:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLP.armature:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotor.armature:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuator.armature:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuator.armature:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuator.armature:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuator.armature:1 +msgid "The armature of the actuator joints. Shape is (num_envs, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.friction:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.friction:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLP.friction:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotor.friction:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuator.friction:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuator.friction:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuator.friction:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuator.friction:1 +msgid "The joint friction of the actuator joints. Shape is (num_envs, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.effort_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.effort_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLP.effort_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotor.effort_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuator.effort_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuator.effort_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuator.effort_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuator.effort_limit:1 +msgid "The effort limit for the actuator group. Shape is (num_envs, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.velocity_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.velocity_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLP.velocity_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotor.velocity_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuator.velocity_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuator.velocity_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuator.velocity_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuator.velocity_limit:1 +msgid "The velocity limit for the actuator group. Shape is (num_envs, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.computed_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.computed_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLP.computed_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotor.computed_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuator.computed_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuator.computed_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuator.computed_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuator.computed_effort:1 +msgid "The computed effort for the actuator group. Shape is (num_envs, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.applied_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.applied_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLP.applied_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotor.applied_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuator.applied_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuator.applied_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuator.applied_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuator.applied_effort:1 +msgid "The applied effort for the actuator group. Shape is (num_envs, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.ActuatorBase.joint_indices:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.joint_indices:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLP.joint_indices:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DCMotor.joint_indices:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DelayedPDActuator.joint_indices:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.IdealPDActuator.joint_indices:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.ImplicitActuator.joint_indices:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.RemotizedPDActuator.joint_indices:5 +msgid "If :obj:`slice(None)` is returned, then the group contains all the joints in the articulation. We do this to avoid unnecessary indexing of the joints for performance reasons." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator.reset:3 +msgid "List of environment IDs to reset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.compute:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute:3 +msgid "It computes the articulation actions based on the actuator model type" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.compute:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute:5 +msgid "The joint action instance comprising of the desired joint positions, joint velocities and (feed-forward) joint efforts." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.compute:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute:7 +msgid "The current joint positions of the joints in the group. Shape is (num_envs, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.compute:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute:8 +msgid "The current joint velocities of the joints in the group. Shape is (num_envs, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_base.py:docstring of omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor.compute:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute:10 +msgid "The computed desired joint positions, joint velocities and joint efforts." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid ":py:obj:`joint_names_expr `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid ":py:obj:`effort_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid "Force/Torque limit of the joints in the group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid ":py:obj:`velocity_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid "Velocity limit of the joints in the group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.stiffness:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.stiffness:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.stiffness:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuatorCfg.stiffness:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuatorCfg.stiffness:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.stiffness:1 +msgid "Stiffness gains (also known as p-gain) of the joints in the group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.damping:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.damping:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.damping:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.damping:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.damping:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuatorCfg.damping:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuatorCfg.damping:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.damping:1 +msgid "Damping gains (also known as d-gain) of the joints in the group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid "Armature of the joints in the group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid "Joint friction of the joints in the group." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.joint_names_expr:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.joint_names_expr:3 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.joint_names_expr:3 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr:3 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuatorCfg.joint_names_expr:3 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuatorCfg.joint_names_expr:3 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr:3 +msgid "This can be a list of joint names or a list of regex expressions (e.g. \".*\")." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.effort_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.effort_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.effort_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.effort_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.effort_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuatorCfg.effort_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuatorCfg.effort_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.effort_limit:1 +msgid "Force/Torque limit of the joints in the group. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.effort_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.velocity_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.effort_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.velocity_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.effort_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.velocity_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.effort_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.velocity_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.effort_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.velocity_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuatorCfg.effort_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuatorCfg.velocity_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuatorCfg.effort_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuatorCfg.velocity_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.effort_limit:3 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.velocity_limit:3 +msgid "If None, the limit is set to the value specified in the USD joint prim." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.velocity_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.velocity_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.velocity_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.velocity_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.velocity_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuatorCfg.velocity_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuatorCfg.velocity_limit:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.velocity_limit:1 +msgid "Velocity limit of the joints in the group. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.stiffness:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:3 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.stiffness:3 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.stiffness:3 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuatorCfg.stiffness:3 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuatorCfg.stiffness:3 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.stiffness:3 +msgid "If None, the stiffness is set to the value from the USD joint prim." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.damping:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.damping:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.damping:3 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.damping:3 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.damping:3 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuatorCfg.damping:3 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuatorCfg.damping:3 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.damping:3 +msgid "If None, the damping is set to the value from the USD joint prim." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.armature:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.armature:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.armature:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.armature:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.armature:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuatorCfg.armature:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuatorCfg.armature:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.armature:1 +msgid "Armature of the joints in the group. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.armature:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.armature:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.armature:3 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.armature:3 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.armature:3 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuatorCfg.armature:3 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuatorCfg.armature:3 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.armature:3 +msgid "If None, the armature is set to the value from the USD joint prim." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.friction:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.friction:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.friction:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.friction:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.friction:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuatorCfg.friction:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuatorCfg.friction:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.friction:1 +msgid "Joint friction of the joints in the group. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.friction:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.friction:3 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.friction:3 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.friction:3 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.friction:3 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuatorCfg.friction:3 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuatorCfg.friction:3 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.friction:3 +msgid "If None, the joint friction is set to the value from the USD joint prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:40 +msgid "Implicit Actuator" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1 +msgid "Bases: :py:class:`~omni.isaac.lab.actuators.actuator_base.ActuatorBase`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:3 +msgid "This performs a similar function as the :class:`IdealPDActuator` class. However, the PD control is handled implicitly by the simulation which performs continuous-time integration of the PD control law. This is generally more accurate than the explicit PD control law used in :class:`IdealPDActuator` when the simulation time-step is large." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:10 +msgid "The articulation class sets the stiffness and damping parameters from the configuration into the simulation. Thus, the parameters are not used in this class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:15 +msgid "The class is only provided for consistency with the other actuator models. It does not implement any functionality and should not be used. All values should be set to the simulation directly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotor.cfg:1 +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuator.cfg:1 +#: ../../docstring of omni.isaac.lab.actuators.IdealPDActuator.cfg:1 +#: ../../docstring of omni.isaac.lab.actuators.ImplicitActuator.cfg:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuator.cfg:1 +msgid "The configuration for the actuator model." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`joint_indices `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`num_joints `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`computed_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`applied_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`effort_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`velocity_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.ImplicitActuator.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(\\*args\\, \\*\\*kwargs\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.ImplicitActuator.cfg:1::1 +msgid ":py:obj:`compute `\\ \\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.ImplicitActuator.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator.compute:1 +msgid "Compute the aproximmate torques for the actuated joint (physX does not compute this explicitly)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.ImplicitActuator.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, joint\\_names\\, joint\\_ids\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.IdealPDActuatorCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.ImplicitActuatorCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.actuators.actuator_cfg.ActuatorBaseCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.ImplicitActuatorCfg:3 +msgid "The PD control is handled implicitly by the simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:54 +msgid "Ideal PD Actuator" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:3 +msgid "It employs the following model for computing torques for the actuated joint :math:`j`:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:5 +msgid "\\tau_{j, computed} = k_p * (q - q_{des}) + k_d * (\\dot{q} - \\dot{q}_{des}) + \\tau_{ff}" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:9 +msgid "where, :math:`k_p` and :math:`k_d` are joint stiffness and damping gains, :math:`q` and :math:`\\dot{q}` are the current joint positions and velocities, :math:`q_{des}`, :math:`\\dot{q}_{des}` and :math:`\\tau_{ff}` are the desired joint positions, velocities and torques commands." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:13 +msgid "The clipping model is based on the maximum torque applied by the motor. It is implemented as:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:15 +msgid "\\tau_{j, max} & = \\gamma \\times \\tau_{motor, max} \\\\\n" +"\\tau_{j, applied} & = clip(\\tau_{computed}, -\\tau_{j, max}, \\tau_{j, max})" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:20 +msgid "where the clipping function is defined as :math:`clip(x, x_{min}, x_{max}) = min(max(x, x_{min}), x_{max})`. The parameters :math:`\\gamma` is the gear ratio of the gear box connecting the motor and the actuated joint ends, and :math:`\\tau_{motor, max}` is the maximum motor effort possible. These parameters are read from the configuration instance passed to the class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`joint_indices `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`num_joints `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`computed_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`applied_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`effort_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`velocity_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.IdealPDActuator.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(env\\_ids\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.IdealPDActuator.cfg:1::1 +msgid ":py:obj:`compute `\\ \\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.IdealPDActuator.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, joint\\_names\\, joint\\_ids\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:68 +msgid "DC Motor Actuator" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1 +msgid "Bases: :py:class:`~omni.isaac.lab.actuators.actuator_pd.IdealPDActuator`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:3 +msgid "It uses the same model as the :class:`IdealActuator` for computing the torques from input commands. However, it implements a saturation model defined by DC motor characteristics." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:6 +msgid "A DC motor is a type of electric motor that is powered by direct current electricity. In most cases, the motor is connected to a constant source of voltage supply, and the current is controlled by a rheostat. Depending on various design factors such as windings and materials, the motor can draw a limited maximum power from the electronic source, which limits the produced motor torque and speed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:11 +msgid "A DC motor characteristics are defined by the following parameters:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:13 +msgid "Continuous-rated speed (:math:`\\dot{q}_{motor, max}`) : The maximum-rated speed of the motor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:14 +msgid "Continuous-stall torque (:math:`\\tau_{motor, max}`): The maximum-rated torque produced at 0 speed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:15 +msgid "Saturation torque (:math:`\\tau_{motor, sat}`): The maximum torque that can be outputted for a short period." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:17 +msgid "Based on these parameters, the instantaneous minimum and maximum torques are defined as follows:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:19 +msgid "\\tau_{j, max}(\\dot{q}) & = clip \\left (\\tau_{j, sat} \\times \\left(1 -\n" +" \\frac{\\dot{q}}{\\dot{q}_{j, max}}\\right), 0.0, \\tau_{j, max} \\right) \\\\\n" +"\\tau_{j, min}(\\dot{q}) & = clip \\left (\\tau_{j, sat} \\times \\left( -1 -\n" +" \\frac{\\dot{q}}{\\dot{q}_{j, max}}\\right), - \\tau_{j, max}, 0.0 \\right)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:26 +msgid "where :math:`\\gamma` is the gear ratio of the gear box connecting the motor and the actuated joint ends, :math:`\\dot{q}_{j, max} = \\gamma^{-1} \\times \\dot{q}_{motor, max}`, :math:`\\tau_{j, max} = \\gamma \\times \\tau_{motor, max}` and :math:`\\tau_{j, peak} = \\gamma \\times \\tau_{motor, peak}` are the maximum joint velocity, maximum joint torque and peak torque, respectively. These parameters are read from the configuration instance passed to the class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:32 +msgid "Using these values, the computed torques are clipped to the minimum and maximum values based on the instantaneous joint velocity:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:35 +msgid "\\tau_{j, applied} = clip(\\tau_{computed}, \\tau_{j, min}(\\dot{q}), \\tau_{j, max}(\\dot{q}))" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`joint_indices `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`num_joints `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`computed_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`applied_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`effort_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`velocity_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DCMotor.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, \\*args\\, \\*\\*kwargs\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DCMotor.cfg:1::1 +msgid ":py:obj:`compute `\\ \\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DCMotor.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(env\\_ids\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.DCMotorCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.DelayedPDActuatorCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.actuators.actuator_cfg.IdealPDActuatorCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.DCMotorCfg.saturation_effort:1::1 +msgid ":py:obj:`saturation_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.DCMotorCfg.saturation_effort:1::1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.saturation_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.saturation_effort:1 +#: ../../docstring of omni.isaac.lab.actuators.DCMotorCfg.saturation_effort:1 +msgid "Peak motor force/torque of the electric DC motor (in N-m)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:82 +msgid "Delayed PD Actuator" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:3 +msgid "This class extends the :class:`IdealPDActuator` class by adding a delay to the actuator commands. The delay is implemented using a circular buffer that stores the actuator commands for a certain number of physics steps. The most recent actuation value is pushed to the buffer at every physics step, but the final actuation value applied to the simulation is lagged by a certain number of physics steps." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:8 +msgid "The amount of time lag is configurable and can be set to a random value between the minimum and maximum time lag bounds at every reset. The minimum and maximum time lag values are set in the configuration instance passed to the class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`joint_indices `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`num_joints `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`computed_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`applied_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`effort_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`velocity_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DelayedPDActuator.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, \\*args\\, \\*\\*kwargs\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DelayedPDActuator.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(env\\_ids\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.DelayedPDActuator.cfg:1::1 +msgid ":py:obj:`compute `\\ \\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr:1::1 +msgid ":py:obj:`min_delay `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr:1::1 +msgid "Minimum number of physics time-steps with which the actuator command may be delayed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr:1::1 +msgid ":py:obj:`max_delay `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr:1::1 +msgid "Maximum number of physics time-steps with which the actuator command may be delayed." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.min_delay:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.min_delay:1 +msgid "Minimum number of physics time-steps with which the actuator command may be delayed. Defaults to 0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.max_delay:1 +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.max_delay:1 +msgid "Maximum number of physics time-steps with which the actuator command may be delayed. Defaults to 0." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:96 +msgid "Remotized PD Actuator" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1 +msgid "Bases: :py:class:`~omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:3 +msgid "This class extends the :class:`DelayedPDActuator` class by adding angle-dependent torque limits to the actuator. The torque limits are applied by querying a lookup table describing the relationship between the joint angle and the maximum output torque. The lookup table is provided in the configuration instance passed to the class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:7 +msgid "The torque limits are interpolated based on the current joint positions and applied to the actuator commands." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, joint\\_names\\, joint\\_ids\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1::1 +msgid ":py:obj:`reset `\\ \\(env\\_ids\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1::1 +msgid ":py:obj:`compute `\\ \\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid ":py:obj:`joint_indices `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid ":py:obj:`num_joints `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid ":py:obj:`computed_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid ":py:obj:`applied_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid ":py:obj:`effort_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid ":py:obj:`velocity_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_pd.py:docstring of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.RemotizedPDActuatorCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.actuators.actuator_cfg.DelayedPDActuatorCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.RemotizedPDActuatorCfg:5 +msgid "The torque output limits for this actuator is derived from a linear interpolation of a lookup table in :attr:`joint_parameter_lookup`. This table describes the relationship between joint angles and the output torques." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr:1::1 +msgid ":py:obj:`joint_parameter_lookup `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr:1::1 +msgid "Joint parameter lookup table." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_parameter_lookup:1 +msgid "Joint parameter lookup table. Shape is (num_lookup_points, 3)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_parameter_lookup:3 +msgid "This tensor describes the relationship between the joint angle (rad), the transmission ratio (in/out), and the output torque (N*m). The table is used to interpolate the output torque based on the joint angle." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:110 +msgid "MLP Network Actuator" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1 +msgid "Bases: :py:class:`~omni.isaac.lab.actuators.actuator_pd.DCMotor`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:3 +msgid "Many times the analytical model is not sufficient to capture the actuator dynamics, the delay in the actuator response, or the non-linearities in the actuator. In these cases, a neural network model can be used to approximate the actuator dynamics. This model is trained using data collected from the physical actuator and maps the joint state and the desired joint command to the produced torque by the actuator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:9 +msgid "This class implements the learned model as a neural network based on the work from :cite:t:`hwangbo2019learning`. The class stores the history of the joint positions errors and velocities which are used to provide input to the neural network. The model is loaded as a TorchScript." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:14 +msgid "Only the desired joint positions are used as inputs to the network." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`joint_indices `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`num_joints `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`computed_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`applied_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`effort_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`velocity_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLP.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, \\*args\\, \\*\\*kwargs\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLP.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(env\\_ids\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLP.cfg:1::1 +msgid ":py:obj:`compute `\\ \\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.ActuatorNetLSTMCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.actuator_cfg.ActuatorNetMLPCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.actuators.actuator_cfg.DCMotorCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid ":py:obj:`network_file `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.network_file:1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.network_file:1 +msgid "Path to the file containing network weights." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid ":py:obj:`pos_scale `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.pos_scale:1 +msgid "Scaling of the joint position errors input to the network." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid ":py:obj:`vel_scale `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.vel_scale:1 +msgid "Scaling of the joint velocities input to the network." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid ":py:obj:`torque_scale `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.torque_scale:1 +msgid "Scaling of the joint efforts output from the network." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid ":py:obj:`input_order `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order:1 +msgid "Order of the inputs to the network." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid ":py:obj:`input_idx `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_idx:1 +msgid "Indices of the actuator history buffer passed as inputs to the network." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order:3 +msgid "The order can be one of the following:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order:5 +msgid "``\"pos_vel\"``: joint position errors followed by joint velocities" +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order:6 +msgid "``\"vel_pos\"``: joint velocities followed by joint position errors" +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_idx:3 +msgid "The index *0* corresponds to current time-step, while *n* corresponds to n-th time-step in the past. The allocated history length is `max(input_idx) + 1`." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:124 +msgid "LSTM Network Actuator" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:3 +msgid "Unlike the MLP implementation :cite:t:`hwangbo2019learning`, this class implements the learned model as a temporal neural network (LSTM) based on the work from :cite:t:`rudin2022learning`. This removes the need of storing a history as the hidden states of the recurrent network captures the history." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`joint_indices `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`num_joints `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`computed_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`applied_effort `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`effort_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`velocity_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, \\*args\\, \\*\\*kwargs\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(env\\_ids\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_net.py:docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.cfg:1::1 +msgid ":py:obj:`compute `\\ \\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/actuators/actuator_cfg.py:docstring of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness:1::1 +msgid ":py:obj:`network_file `\\" +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.app.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.app.pot new file mode 100644 index 0000000000..adc670d4ab --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.app.pot @@ -0,0 +1,246 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:2 +msgid "omni.isaac.lab.app" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/__init__.py:docstring of omni.isaac.lab.app:1 +msgid "Sub-package containing app-specific functionalities." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/__init__.py:docstring of omni.isaac.lab.app:3 +msgid "These include:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/__init__.py:docstring of omni.isaac.lab.app:5 +msgid "Ability to launch the simulation app with different configurations" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/__init__.py:docstring of omni.isaac.lab.app:6 +msgid "Run tests with the simulation app" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:10::1 +msgid ":py:obj:`AppLauncher `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:10::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher:1 +msgid "A utility class to launch Isaac Sim application based on command-line arguments and environment variables." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:14 +msgid "Environment variables" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:16 +msgid "The following details the behavior of the class based on the environment variables:" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:18 +msgid "**Headless mode**: If the environment variable ``HEADLESS=1``, then SimulationApp will be started in headless mode. If ``LIVESTREAM={1,2}``, then it will supersede the ``HEADLESS`` envvar and force headlessness." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:21 +msgid "``HEADLESS=1`` causes the app to run in headless mode." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:23 +msgid "**Livestreaming**: If the environment variable ``LIVESTREAM={1,2}`` , then `livestream`_ is enabled. Any of the livestream modes being true forces the app to run in headless mode." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:26 +msgid "``LIVESTREAM=1`` enables streaming via the Isaac `Native Livestream`_ extension. This allows users to connect through the Omniverse Streaming Client." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:28 +msgid "``LIVESTREAM=2`` enables streaming via the `WebRTC Livestream`_ extension. This allows users to connect in a browser using the WebRTC protocol." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:33 +msgid "Each Isaac Sim instance can only connect to one streaming client. Connecting to an Isaac Sim instance that is currently serving a streaming client results in an error for the second user." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:37 +msgid "**Enable cameras**: If the environment variable ``ENABLE_CAMERAS`` is set to 1, then the cameras are enabled. This is useful for running the simulator without a GUI but still rendering the viewport and camera images." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:41 +msgid "``ENABLE_CAMERAS=1``: Enables the offscreen-render pipeline which allows users to render the scene without launching a GUI." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:46 +msgid "The off-screen rendering pipeline only works when used in conjunction with the :class:`omni.isaac.lab.sim.SimulationContext` class. This is because the off-screen rendering pipeline enables flags that are internally used by the SimulationContext class." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:51 +msgid "To set the environment variables, one can use the following command in the terminal:" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:60 +msgid "Alternatively, one can set the environment variables to the python script directly:" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:68 +msgid "Overriding the environment variables" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:70 +msgid "The environment variables can be overridden in the python script itself using the :class:`AppLauncher`. These can be passed as a dictionary, a :class:`argparse.Namespace` object or as keyword arguments. When the passed arguments are not the default values, then they override the environment variables." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:74 +msgid "The following snippet shows how use the :class:`AppLauncher` in different ways:" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:106 +msgid "Simulation App Launcher" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher:3 +msgid "The class resolves the simulation app settings that appear through environments variables, command-line arguments (CLI) or as input keyword arguments. Based on these settings, it launches the simulation app and configures the extensions to load (as a part of post-launch setup)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher:7 +msgid "The input arguments provided to the class are given higher priority than the values set from the corresponding environment variables. This provides flexibility to deal with different users' preferences." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher:12 +msgid "Explicitly defined arguments are only given priority when their value is set to something outside their default configuration. For example, the ``livestream`` argument is -1 by default. It only overrides the ``LIVESTREAM`` environment variable when ``livestream`` argument is set to a value >-1. In other words, if ``livestream=-1``, then the value from the environment variable ``LIVESTREAM`` is used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\[launcher\\_args\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher:1::1 +msgid "Create a `SimulationApp`_ instance based on the input settings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher:1::1 +msgid ":py:obj:`add_app_launcher_args `\\ \\(parser\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher:1::1 +msgid "Utility function to configure AppLauncher arguments with an existing argument parser object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:1::1 +msgid ":py:obj:`app `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.AppLauncher.app:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:1::1 +msgid "The launched SimulationApp." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:3 +msgid "Input arguments to parse using the AppLauncher and set into the SimulationApp. Defaults to None, which is equivalent to passing an empty dictionary. A detailed description of the possible arguments is available in the `SimulationApp`_ documentation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:6 +msgid "Additional keyword arguments that will be merged into :attr:`launcher_args`. They serve as a convenience for those who want to pass some arguments using the argparse interface and others directly into the AppLauncher. Duplicated arguments with the :attr:`launcher_args` will raise a ValueError." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:11 +msgid "If there are common/duplicated arguments between ``launcher_args`` and ``kwargs``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:12 +msgid "If combination of ``launcher_args`` and ``kwargs`` are missing the necessary arguments that are needed by the AppLauncher to resolve the desired app configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:13 +msgid "If incompatible or undefined values are assigned to relevant environment values, such as ``LIVESTREAM``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:3 +msgid "This function takes an ``argparse.ArgumentParser`` object and does some sanity checking on the existing arguments for ingestion by the SimulationApp. It then appends custom command-line arguments relevant to the SimulationApp to the input :class:`argparse.ArgumentParser` instance. This allows overriding the environment variables using command-line arguments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:8 +msgid "Currently, it adds the following parameters to the argparser object:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:10 +msgid "``headless`` (bool): If True, the app will be launched in headless (no-gui) mode. The values map the same as that for the ``HEADLESS`` environment variable. If False, then headless mode is determined by the ``HEADLESS`` environment variable." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:13 +msgid "``livestream`` (int): If one of {0, 1, 2}, then livestreaming and headless mode is enabled. The values map the same as that for the ``LIVESTREAM`` environment variable. If :obj:`-1`, then livestreaming is determined by the ``LIVESTREAM`` environment variable." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:16 +msgid "``enable_cameras`` (bool): If True, the app will enable camera sensors and render them, even when in headless mode. This flag must be set to True if the environments contains any camera sensors. The values map the same as that for the ``ENABLE_CAMERAS`` environment variable. If False, then enable_cameras mode is determined by the ``ENABLE_CAMERAS`` environment variable." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:20 +msgid "``device_id`` (int): If specified, simulation will run on the specified GPU device." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:21 +msgid "``experience`` (str): The experience file to load when launching the SimulationApp. If a relative path is provided, it is resolved relative to the ``apps`` folder in Isaac Sim and Isaac Lab (in that order)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:24 +msgid "If provided as an empty string, the experience file is determined based on the headless flag:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:26 +msgid "If headless and enable_cameras are True, the experience file is set to ``isaaclab.python.headless.rendering.kit``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:27 +msgid "If headless is False and enable_cameras is True, the experience file is set to ``isaaclab.python.rendering.kit``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:28 +msgid "If headless is False and enable_cameras is False, the experience file is set to ``isaaclab.python.kit``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:29 +msgid "If headless is True and enable_cameras is False, the experience file is set to ``isaaclab.python.headless.kit``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py:docstring of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:31 +msgid "An argument parser instance to be extended with the AppLauncher specific options." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.assets.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.assets.pot new file mode 100644 index 0000000000..dc17dda654 --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.assets.pot @@ -0,0 +1,2432 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:2 +msgid "omni.isaac.lab.assets" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py:docstring of omni.isaac.lab.assets:1 +msgid "Sub-package for different assets, such as rigid objects and articulations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py:docstring of omni.isaac.lab.assets:3 +msgid "An asset is a physical object that can be spawned in the simulation. The class handles both the spawning of the asset into the USD stage as well as initialization of necessary physics handles to interact with the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py:docstring of omni.isaac.lab.assets:7 +msgid "Upon construction of the asset instance, the prim corresponding to the asset is spawned into the USD stage if the spawn configuration is not None. The spawn configuration is defined in the :attr:`AssetBaseCfg.spawn` attribute. In case the configured :attr:`AssetBaseCfg.prim_path` is an expression, then the prim is spawned at all the matching paths. Otherwise, a single prim is spawned at the configured path. For more information on the spawn configuration, see the :mod:`omni.isaac.lab.sim.spawners` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py:docstring of omni.isaac.lab.assets:14 +msgid "The asset class also registers callbacks for the stage play/stop events. These are used to construct the physics handles for the asset as the physics engine is only available when the stage is playing. Additionally, the class registers a callback for debug visualization of the asset. This can be enabled by setting the :attr:`AssetBaseCfg.debug_vis` attribute to True." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py:docstring of omni.isaac.lab.assets:19 +msgid "The asset class follows the following naming convention for its methods:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py:docstring of omni.isaac.lab.assets:21 +msgid "**set_xxx()**: These are used to only set the buffers into the :attr:`data` instance. However, they do not write the data into the simulator. The writing of data only happens when the :meth:`write_data_to_sim` method is called." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py:docstring of omni.isaac.lab.assets:24 +msgid "**write_xxx_to_sim()**: These are used to set the buffers into the :attr:`data` instance and write the corresponding data into the simulator as well." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py:docstring of omni.isaac.lab.assets:26 +msgid "**update(dt)**: These are used to update the buffers in the :attr:`data` instance. This should be called after a simulation step is performed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py:docstring of omni.isaac.lab.assets:29 +msgid "The main reason to separate the ``set`` and ``write`` operations is to provide flexibility to the user when they need to perform a post-processing operation of the buffers before applying them into the simulator. A common example for this is dealing with explicit actuator models where the specified joint targets are not directly applied to the simulator but are instead used to compute the corresponding actuator torques." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`AssetBase `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:1 +msgid "The base interface class for assets." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`AssetBaseCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg:1 +msgid "The base configuration class for an asset's parameters." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`RigidObject `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1 +msgid "A rigid object asset class." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`RigidObjectData `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:1 +msgid "Data container for a rigid object." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`RigidObjectCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg:1 +msgid "Configuration parameters for a rigid object." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`Articulation `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1 +msgid "An articulation asset class." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`ArticulationData `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData:1 +msgid "Data container for an articulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`ArticulationCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg:1 +msgid "Configuration parameters for an articulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:22 +msgid "Asset Base" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:3 +msgid "An asset corresponds to any physics-enabled object that can be spawned in the simulation. These include rigid objects, articulated objects, deformable objects etc. The core functionality of an asset is to provide a set of buffers that can be used to interact with the simulator. The buffers are updated by the asset class and can be written into the simulator using the their respective ``write`` methods. This allows a convenient way to perform post-processing operations on the buffers before writing them into the simulator and obtaining the corresponding simulation results." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:10 +msgid "The class handles both the spawning of the asset into the USD stage as well as initialization of necessary physics handles to interact with the asset. Upon construction of the asset instance, the prim corresponding to the asset is spawned into the USD stage if the spawn configuration is not None. The spawn configuration is defined in the :attr:`AssetBaseCfg.spawn` attribute. In case the configured :attr:`AssetBaseCfg.prim_path` is an expression, then the prim is spawned at all the matching paths. Otherwise, a single prim is spawned at the configured path. For more information on the spawn configuration, see the :mod:`omni.isaac.lab.sim.spawners` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:18 +msgid "Unlike Isaac Sim interface, where one usually needs to call the :meth:`omni.isaac.core.prims.XFormPrimView.initialize` method to initialize the PhysX handles, the asset class automatically initializes and invalidates the PhysX handles when the stage is played/stopped. This is done by registering callbacks for the stage play/stop events." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:23 +msgid "Additionally, the class registers a callback for debug visualization of the asset if a debug visualization is implemented in the asset class. This can be enabled by setting the :attr:`AssetBaseCfg.debug_vis` attribute to True. The debug visualization is implemented through the :meth:`_set_debug_vis_impl` and :meth:`_debug_vis_callback` methods." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid "Initialize the asset base." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:1 +msgid "Sets whether to visualize the asset data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.reset:1 +msgid "Resets all internal buffers of selected environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid ":py:obj:`write_data_to_sim `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.write_data_to_sim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid "Writes data to the simulator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid ":py:obj:`update `\\ \\(dt\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.update:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.update:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.update:1 +msgid "Update the internal buffers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg.InitialStateCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +msgid ":py:obj:`is_initialized `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.is_initialized:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.AssetBase.is_initialized:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.is_initialized:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Whether the asset is initialized." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +msgid ":py:obj:`num_instances `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.num_instances:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.AssetBase.num_instances:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.num_instances:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Number of instances of the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.AssetBase.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Memory device for computation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.data:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.AssetBase.data:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.data:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Data related to the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.AssetBase.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Whether the asset has a debug visualization implemented." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_damping:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit_stiffness:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_offset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_rest_length:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_stiffness:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_effort_target:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_position_target:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_velocity_target:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_fixed_tendon_properties_to_sim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_armature_to_sim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_damping_to_sim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_effort_limit_to_sim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_friction_to_sim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_limits_to_sim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_state_to_sim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_stiffness_to_sim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_pose_to_sim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_velocity_to_sim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.update:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.update:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.update:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_pose_to_sim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_velocity_to_sim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:3 +msgid "The configuration class for the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.__init__:5 +msgid "If no prims found at input prim path or prim path expression." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.is_initialized:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.AssetBase.is_initialized:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.is_initialized:3 +msgid "Returns True if the asset is initialized, False otherwise." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.num_instances:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.AssetBase.num_instances:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.num_instances:3 +msgid "This is equal to the number of asset instances per environment multiplied by the number of environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:3 +msgid "Whether to visualize the asset data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:5 +msgid "Whether the debug visualization was successfully set. False if the asset does not support debug visualization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.reset:3 +msgid "The indices of the object to reset. Defaults to None (all instances)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.update:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.update:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.update:3 +msgid "The time step ``dt`` is used to compute numerical derivatives of quantities such as joint accelerations which are not provided by the simulator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.update:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base.py:docstring of omni.isaac.lab.assets.asset_base.AssetBase.update:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.update:6 +msgid "The amount of time passed from last ``update`` call." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg:3 +msgid "Please see the :class:`AssetBase` class for more information on the asset class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg:1 +msgid "**Classes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg:1::1 +msgid ":py:obj:`InitialStateCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg:1::1 +msgid "Initial state of the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid ":py:obj:`prim_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.prim_path:1 +#: ../../docstring of omni.isaac.lab.assets.AssetBaseCfg.prim_path:1 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.prim_path:1 +msgid "Prim path (or expression) to the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid ":py:obj:`spawn `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid "Spawn configuration for the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid ":py:obj:`init_state `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg.InitialStateCfg:1::1 +msgid "Initial state of the rigid object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid ":py:obj:`collision_group `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid "Collision group of the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid ":py:obj:`debug_vis `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid "Whether to enable debug visualization for the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:3 +msgid "This defines the default initial state of the asset when it is spawned into the simulation, as well as the default state when the simulation is reset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:6 +msgid "After parsing the initial state, the asset class stores this information in the :attr:`data` attribute of the asset class. This can then be accessed by the user to modify the state of the asset during the simulation, for example, at resets." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos:1::1 +msgid ":py:obj:`pos `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos:1::1 +msgid "Position of the root in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos:1::1 +msgid ":py:obj:`rot `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/asset_base_cfg.py:docstring of omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos:1::1 +msgid "Quaternion rotation (w, x, y, z) of the root in simulation world frame." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.pos:1 +#: ../../docstring of omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos:1 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.pos:1 +msgid "Position of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.rot:1 +#: ../../docstring of omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.rot:1 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.rot:1 +msgid "Quaternion rotation (w, x, y, z) of the root in simulation world frame. Defaults to (1.0, 0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.prim_path:4 +#: ../../docstring of omni.isaac.lab.assets.AssetBaseCfg.prim_path:4 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.prim_path:4 +msgid "The expression can contain the environment namespace regex ``{ENV_REGEX_NS}`` which will be replaced with the environment namespace." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.prim_path:7 +#: ../../docstring of omni.isaac.lab.assets.AssetBaseCfg.prim_path:7 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.prim_path:7 +msgid "Example: ``{ENV_REGEX_NS}/Robot`` will be replaced with ``/World/envs/env_.*/Robot``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.spawn:1 +#: ../../docstring of omni.isaac.lab.assets.AssetBaseCfg.spawn:1 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.spawn:1 +msgid "Spawn configuration for the asset. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.spawn:3 +#: ../../docstring of omni.isaac.lab.assets.AssetBaseCfg.spawn:3 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.spawn:3 +msgid "If None, then no prims are spawned by the asset class. Instead, it is assumed that the asset is already present in the scene." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.AssetBaseCfg.init_state:1 +msgid "Initial state of the rigid object. Defaults to identity pose." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.collision_group:1 +#: ../../docstring of omni.isaac.lab.assets.AssetBaseCfg.collision_group:1 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.collision_group:1 +msgid "Collision group of the asset. Defaults to ``0``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.collision_group:3 +#: ../../docstring of omni.isaac.lab.assets.AssetBaseCfg.collision_group:3 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.collision_group:3 +msgid "``-1``: global collision group (collides with all assets in the scene)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.collision_group:4 +#: ../../docstring of omni.isaac.lab.assets.AssetBaseCfg.collision_group:4 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.collision_group:4 +msgid "``0``: local collision group (collides with other assets in the same environment)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.assets.AssetBaseCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.debug_vis:1 +msgid "Whether to enable debug visualization for the asset. Defaults to ``False``." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:32 +msgid "Rigid Object" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1 +msgid "Bases: :py:class:`~omni.isaac.lab.assets.asset_base.AssetBase`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:3 +msgid "Rigid objects are assets comprising of rigid bodies. They can be used to represent dynamic objects such as boxes, spheres, etc. A rigid body is described by its pose, velocity and mass distribution." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:6 +msgid "For an asset to be considered a rigid object, the root prim of the asset must have the `USD RigidBodyAPI`_ applied to it. This API is used to define the simulation properties of the rigid body. On playing the simulation, the physics engine will automatically register the rigid body and create a corresponding rigid body handle. This handle can be accessed using the :attr:`root_physx_view` attribute." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:13 +msgid "For users familiar with Isaac Sim, the PhysX view class API is not the exactly same as Isaac Sim view class API. Similar to Isaac Lab, Isaac Sim wraps around the PhysX view API. However, as of now (2023.1 release), we see a large difference in initializing the view classes in Isaac Sim. This is because the view classes in Isaac Sim perform additional USD-related operations which are slow and also not required." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +#: ../../docstring of omni.isaac.lab.assets.RigidObject.cfg:1 +msgid "Configuration instance for the rigid object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`num_instances `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`num_bodies `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.num_bodies:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Number of bodies in the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`body_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.body_names:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Ordered names of bodies in the rigid object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`root_physx_view `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.body_physx_view:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.body_physx_view:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.root_physx_view:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Rigid body view for the asset (PhysX)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`body_physx_view `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`is_initialized `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.__init__:1 +msgid "Initialize the rigid object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid ":py:obj:`write_data_to_sim `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_data_to_sim:1 +msgid "Write external wrench to the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid ":py:obj:`update `\\ \\(dt\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid ":py:obj:`find_bodies `\\ \\(name\\_keys\\[\\, preserve\\_order\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:1 +msgid "Find bodies in the articulation based on the name keys." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid ":py:obj:`write_root_state_to_sim `\\ \\(root\\_state\\[\\, env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim:1 +msgid "Set the root state over selected environment indices into the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid ":py:obj:`write_root_pose_to_sim `\\ \\(root\\_pose\\[\\, env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_pose_to_sim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_pose_to_sim:1 +msgid "Set the root pose over selected environment indices into the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid ":py:obj:`write_root_velocity_to_sim `\\ \\(root\\_velocity\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_velocity_to_sim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_velocity_to_sim:1 +msgid "Set the root velocity over selected environment indices into the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid ":py:obj:`set_external_force_and_torque `\\ \\(forces\\, torques\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:1 +msgid "Set external force and torque to apply on the asset's bodies in their local frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.__init__:3 +msgid "A configuration instance." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.root_physx_view:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.root_physx_view:3 +msgid "Use this view with caution. It requires handling of tensors in a specific way." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.RigidObject.body_physx_view:5 +msgid "The attribute 'body_physx_view' will be removed in v0.4.0. Please use :attr:`root_physx_view` instead." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_data_to_sim:5 +msgid "We write external wrench to the simulation here since this function is called before the simulation step. This ensures that the external wrench is applied at every simulation step." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:3 +msgid "Please check the :meth:`omni.isaac.lab.utils.string_utils.resolve_matching_names` function for more information on the name matching." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:6 +msgid "A regular expression or a list of regular expressions to match the body names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:7 +msgid "Whether to preserve the order of the name keys in the output. Defaults to False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:9 +msgid "A tuple of lists containing the body indices and names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim:3 +msgid "The root state comprises of the cartesian position, quaternion orientation in (w, x, y, z), and linear and angular velocity. All the quantities are in the simulation frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim:6 +msgid "Root state in simulation frame. Shape is (len(env_ids), 13)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_pose_to_sim:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_velocity_to_sim:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_pose_to_sim:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_velocity_to_sim:4 +msgid "Environment indices. If None, then all indices are used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_pose_to_sim:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_pose_to_sim:3 +msgid "The root pose comprises of the cartesian position and quaternion orientation in (w, x, y, z)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_pose_to_sim:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_pose_to_sim:5 +msgid "Root poses in simulation frame. Shape is (len(env_ids), 7)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_velocity_to_sim:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_velocity_to_sim:3 +msgid "Root velocities in simulation frame. Shape is (len(env_ids), 6)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:3 +msgid "For many applications, we want to keep the applied external force on rigid bodies constant over a period of time (for instance, during the policy control). This function allows us to store the external force and torque into buffers which are then applied to the simulation at every step." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:8 +msgid "If the function is called with empty forces and torques, then this function disables the application of external wrench to the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:17 +msgid "This function does not apply the external wrench to the simulation. It only fills the buffers with the desired values. To apply the external wrench, call the :meth:`write_data_to_sim` function right before the simulation step." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:21 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:21 +msgid "External forces in bodies' local frame. Shape is (len(env_ids), len(body_ids), 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:22 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:22 +msgid "External torques in bodies' local frame. Shape is (len(env_ids), len(body_ids), 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:23 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:23 +msgid "Body indices to apply external wrench to. Defaults to None (all bodies)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:24 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:24 +msgid "Environment indices to apply external wrench to. Defaults to None (all instances)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:3 +msgid "This class contains the data for a rigid object in the simulation. The data includes the state of the root rigid body and the state of all the bodies in the object. The data is stored in the simulation world frame unless otherwise specified." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:7 +msgid "The data is lazily updated, meaning that the data is only updated when it is accessed. This is useful when the data is expensive to compute or retrieve. The data is updated when the timestamp of the buffer is older than the current simulation timestamp. The timestamp is updated whenever the data is updated." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:1::1 +msgid ":py:obj:`update `\\ \\(dt\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:1::1 +msgid "Updates the data for the rigid object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`body_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.body_names:1 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectData.body_names:1 +msgid "Body names in the order parsed by the simulation view." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`default_root_state `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Default root state ``[pos, quat, lin_vel, ang_vel]`` in local environment frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`default_mass `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Default mass provided by simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`root_state_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root state ``[pos, quat, lin_vel, ang_vel]`` in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`body_state_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "State of all bodies `[pos, quat, lin_vel, ang_vel]` in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`body_acc_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Acceleration of all bodies." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`projected_gravity_b `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Projection of the gravity direction on base frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`heading_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Yaw heading of the base frame (in radians)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`root_pos_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root position in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`root_quat_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root orientation (w, x, y, z) in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`root_vel_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root velocity in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`root_lin_vel_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root linear velocity in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`root_ang_vel_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root angular velocity in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`root_lin_vel_b `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root linear velocity in base frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`root_ang_vel_b `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root angular velocity in base world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`body_pos_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Positions of all bodies in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`body_quat_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Orientation (w, x, y, z) of all bodies in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`body_vel_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Velocity of all bodies in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`body_lin_vel_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Linear velocity of all bodies in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`body_ang_vel_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Angular velocity of all bodies in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:3 +msgid "The time step for the update. This must be a positive value." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_root_state:1 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectData.default_root_state:1 +msgid "Default root state ``[pos, quat, lin_vel, ang_vel]`` in local environment frame. Shape is (num_instances, 13)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_mass:1 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectData.default_mass:1 +msgid "Default mass provided by simulation. Shape is (num_instances, num_bodies)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.root_state_w:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.root_state_w:1 +msgid "Root state ``[pos, quat, lin_vel, ang_vel]`` in simulation world frame. Shape is (num_instances, 13)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.body_state_w:1 +msgid "State of all bodies `[pos, quat, lin_vel, ang_vel]` in simulation world frame. Shape is (num_instances, 1, 13)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.body_acc_w:1 +msgid "Acceleration of all bodies. Shape is (num_instances, 1, 6)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.projected_gravity_b:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.projected_gravity_b:1 +msgid "Projection of the gravity direction on base frame. Shape is (num_instances, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.heading_w:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.heading_w:1 +msgid "Yaw heading of the base frame (in radians). Shape is (num_instances,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.heading_w:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.heading_w:5 +msgid "This quantity is computed by assuming that the forward-direction of the base frame is along x-direction, i.e. :math:`(1, 0, 0)`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.root_pos_w:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.root_pos_w:1 +msgid "Root position in simulation world frame. Shape is (num_instances, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.root_quat_w:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.root_quat_w:1 +msgid "Root orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.root_vel_w:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.root_vel_w:1 +msgid "Root velocity in simulation world frame. Shape is (num_instances, 6)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.root_lin_vel_w:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.root_lin_vel_w:1 +msgid "Root linear velocity in simulation world frame. Shape is (num_instances, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.root_ang_vel_w:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.root_ang_vel_w:1 +msgid "Root angular velocity in simulation world frame. Shape is (num_instances, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.root_lin_vel_b:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.root_lin_vel_b:1 +msgid "Root linear velocity in base frame. Shape is (num_instances, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.root_ang_vel_b:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.root_ang_vel_b:1 +msgid "Root angular velocity in base world frame. Shape is (num_instances, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.body_pos_w:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.body_pos_w:1 +msgid "Positions of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.body_quat_w:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.body_quat_w:1 +msgid "Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.body_vel_w:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.body_vel_w:1 +msgid "Velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 6)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.body_lin_vel_w:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.body_lin_vel_w:1 +msgid "Linear velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.body_ang_vel_w:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_data.py:docstring of omni.isaac.lab.assets.RigidObjectData.body_ang_vel_w:1 +msgid "Angular velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg:1::1 +msgid ":py:obj:`InitialStateCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg.InitialStateCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg:1::1 +msgid "Initial state of the rigid body." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg.InitialStateCfg:1::1 +msgid ":py:obj:`init_state `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg.InitialStateCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel:1::1 +msgid ":py:obj:`lin_vel `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel:1::1 +msgid "Linear velocity of the root in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel:1::1 +msgid ":py:obj:`ang_vel `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object_cfg.py:docstring of omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel:1::1 +msgid "Angular velocity of the root in simulation world frame." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.lin_vel:1 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel:1 +msgid "Linear velocity of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.ang_vel:1 +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.ang_vel:1 +msgid "Angular velocity of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.init_state:1 +msgid "Initial state of the rigid object. Defaults to identity pose with zero velocity." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:52 +msgid "Articulation" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1 +msgid "Bases: :py:class:`~omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:3 +msgid "An articulation is a collection of rigid bodies connected by joints. The joints can be either fixed or actuated. The joints can be of different types, such as revolute, prismatic, D-6, etc. However, the articulation class has currently been tested with revolute and prismatic joints. The class supports both floating-base and fixed-base articulations. The type of articulation is determined based on the root joint of the articulation. If the root joint is fixed, then the articulation is considered a fixed-base system. Otherwise, it is considered a floating-base system. This can be checked using the :attr:`Articulation.is_fixed_base` attribute." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:11 +msgid "For an asset to be considered an articulation, the root prim of the asset must have the `USD ArticulationRootAPI`_. This API is used to define the sub-tree of the articulation using the reduced coordinate formulation. On playing the simulation, the physics engine parses the articulation root prim and creates the corresponding articulation in the physics engine. The articulation root prim can be specified using the :attr:`AssetBaseCfg.prim_path` attribute." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:17 +msgid "The articulation class is a subclass of the :class:`RigidObject` class. Therefore, it inherits all the functionality of the rigid object class. In case of an articulation, the :attr:`root_physx_view` attribute corresponds to the articulation root view and can be used to access the articulation related data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:22 +msgid "The articulation class also provides the functionality to augment the simulation of an articulated system with custom actuator models. These models can either be explicit or implicit, as detailed in the :mod:`omni.isaac.lab.actuators` module. The actuator models are specified using the :attr:`ArticulationCfg.actuators` attribute. These are then parsed and used to initialize the corresponding actuator models, when the simulation is played." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:28 +msgid "During the simulation step, the articulation class first applies the actuator models to compute the joint commands based on the user-specified targets. These joint commands are then applied into the simulation. The joint commands can be either position, velocity, or effort commands. As an example, the following snippet shows how this can be used for position commands:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +#: ../../docstring of omni.isaac.lab.assets.Articulation.cfg:1 +msgid "Configuration instance for the articulations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`actuators `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +#: ../../docstring of omni.isaac.lab.assets.Articulation.actuators:1 +msgid "Dictionary of actuator instances for the articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`is_fixed_base `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.is_fixed_base:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Whether the articulation is a fixed-base or floating-base system." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`num_joints `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.num_joints:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Number of joints in articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`num_fixed_tendons `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.num_fixed_tendons:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Number of fixed tendons in articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`num_bodies `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.num_bodies:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Number of bodies in articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.joint_names:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Ordered names of joints in articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`fixed_tendon_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.fixed_tendon_names:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Ordered names of fixed tendons in articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`body_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.body_names:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Ordered names of bodies in articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`root_physx_view `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.root_physx_view:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Articulation view for the asset (PhysX)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`body_physx_view `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`is_initialized `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`num_instances `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.__init__:1 +msgid "Initialize the articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`write_data_to_sim `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_data_to_sim:1 +msgid "Write external wrenches and joint commands to the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`find_joints `\\ \\(name\\_keys\\[\\, joint\\_subset\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints:1 +msgid "Find joints in the articulation based on the name keys." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`find_fixed_tendons `\\ \\(name\\_keys\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons:1 +msgid "Find fixed tendons in the articulation based on the name keys." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`set_external_force_and_torque `\\ \\(forces\\, torques\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`write_root_pose_to_sim `\\ \\(root\\_pose\\[\\, env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`write_root_velocity_to_sim `\\ \\(root\\_velocity\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`write_joint_state_to_sim `\\ \\(position\\, velocity\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_state_to_sim:1 +msgid "Write joint positions and velocities to the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`write_joint_stiffness_to_sim `\\ \\(stiffness\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_stiffness_to_sim:1 +msgid "Write joint stiffness into the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`write_joint_damping_to_sim `\\ \\(damping\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_damping_to_sim:1 +msgid "Write joint damping into the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`write_joint_effort_limit_to_sim `\\ \\(limits\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_effort_limit_to_sim:1 +msgid "Write joint effort limits into the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`write_joint_armature_to_sim `\\ \\(armature\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_armature_to_sim:1 +msgid "Write joint armature into the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`write_joint_friction_to_sim `\\ \\(joint\\_friction\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_friction_to_sim:1 +msgid "Write joint friction into the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`write_joint_limits_to_sim `\\ \\(limits\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_limits_to_sim:1 +msgid "Write joint limits into the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`set_joint_position_target `\\ \\(target\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_position_target:1 +msgid "Set joint position targets into internal buffers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`set_joint_velocity_target `\\ \\(target\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_velocity_target:1 +msgid "Set joint velocity targets into internal buffers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`set_joint_effort_target `\\ \\(target\\[\\, joint\\_ids\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_effort_target:1 +msgid "Set joint efforts into internal buffers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`set_fixed_tendon_stiffness `\\ \\(stiffness\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_stiffness:1 +msgid "Set fixed tendon stiffness into internal buffers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`set_fixed_tendon_damping `\\ \\(damping\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_damping:1 +msgid "Set fixed tendon damping into internal buffers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`set_fixed_tendon_limit_stiffness `\\ \\(limit\\_stiffness\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit_stiffness:1 +msgid "Set fixed tendon limit stiffness efforts into internal buffers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`set_fixed_tendon_limit `\\ \\(limit\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit:1 +msgid "Set fixed tendon limit efforts into internal buffers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`set_fixed_tendon_rest_length `\\ \\(rest\\_length\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_rest_length:1 +msgid "Set fixed tendon rest length efforts into internal buffers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`set_fixed_tendon_offset `\\ \\(offset\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_offset:1 +msgid "Set fixed tendon offset efforts into internal buffers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`write_fixed_tendon_properties_to_sim `\\ \\(\\[...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_fixed_tendon_properties_to_sim:1 +msgid "Write fixed tendon properties into the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`find_bodies `\\ \\(name\\_keys\\[\\, preserve\\_order\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`update `\\ \\(dt\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`write_root_state_to_sim `\\ \\(root\\_state\\[\\, env\\_ids\\]\\)" +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.Articulation.actuators:3 +msgid "The keys are the actuator names and the values are the actuator instances. The actuator instances are initialized based on the actuator configurations specified in the :attr:`ArticulationCfg.actuators` attribute. They are used to compute the joint commands during the :meth:`write_data_to_sim` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.body_physx_view:5 +msgid "In previous versions, this attribute returned the rigid body view over all the links of the articulation. However, this led to confusion with the link ordering as they were not ordered in the same way as the articulation view." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.Articulation.body_physx_view:9 +msgid "Therefore, this attribute will be removed in v0.4.0. Please use the :attr:`root_physx_view` attribute instead." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_data_to_sim:3 +msgid "If any explicit actuators are present, then the actuator models are used to compute the joint commands. Otherwise, the joint commands are directly set into the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints:3 +msgid "Please see the :func:`omni.isaac.lab.utils.string.resolve_matching_names` function for more information on the name matching." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints:6 +msgid "A regular expression or a list of regular expressions to match the joint names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints:7 +msgid "A subset of joints to search for. Defaults to None, which means all joints in the articulation are searched." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints:11 +msgid "A tuple of lists containing the joint indices and names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons:6 +msgid "A regular expression or a list of regular expressions to match the joint names with fixed tendons." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons:8 +msgid "A subset of joints with fixed tendons to search for. Defaults to None, which means all joints in the articulation are searched." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons:12 +msgid "A tuple of lists containing the tendon indices and names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_state_to_sim:3 +msgid "Joint positions. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_state_to_sim:4 +msgid "Joint velocities. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_effort_target:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_position_target:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_velocity_target:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_state_to_sim:5 +msgid "The joint indices to set the targets for. Defaults to None (all joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_effort_target:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_position_target:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_velocity_target:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_state_to_sim:6 +msgid "The environment indices to set the targets for. Defaults to None (all environments)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_stiffness_to_sim:3 +msgid "Joint stiffness. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_stiffness_to_sim:4 +msgid "The joint indices to set the stiffness for. Defaults to None (all joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_stiffness:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_stiffness_to_sim:5 +msgid "The environment indices to set the stiffness for. Defaults to None (all environments)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_damping_to_sim:3 +msgid "Joint damping. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_damping_to_sim:4 +msgid "The joint indices to set the damping for. Defaults to None (all joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_damping:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_damping_to_sim:6 +msgid "The environment indices to set the damping for. Defaults to None (all environments)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_effort_limit_to_sim:3 +msgid "Joint torque limits. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_armature_to_sim:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_effort_limit_to_sim:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_friction_to_sim:4 +msgid "The joint indices to set the joint torque limits for. Defaults to None (all joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_armature_to_sim:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_effort_limit_to_sim:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_friction_to_sim:5 +msgid "The environment indices to set the joint torque limits for. Defaults to None (all environments)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_armature_to_sim:3 +msgid "Joint armature. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_friction_to_sim:3 +msgid "Joint friction. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_limits_to_sim:3 +msgid "Joint limits. Shape is (len(env_ids), len(joint_ids), 2)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_limits_to_sim:4 +msgid "The joint indices to set the limits for. Defaults to None (all joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_fixed_tendon_properties_to_sim:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_limits_to_sim:5 +msgid "The environment indices to set the limits for. Defaults to None (all environments)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_effort_target:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_position_target:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_velocity_target:4 +msgid "This function does not apply the joint targets to the simulation. It only fills the buffers with the desired values. To apply the joint targets, call the :meth:`write_data_to_sim` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_position_target:7 +msgid "Joint position targets. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_velocity_target:7 +msgid "Joint velocity targets. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_effort_target:7 +msgid "Joint effort targets. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_stiffness:4 +msgid "This function does not apply the tendon stiffness to the simulation. It only fills the buffers with the desired values. To apply the tendon stiffness, call the :meth:`write_fixed_tendon_properties_to_sim` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_stiffness:7 +msgid "Fixed tendon stiffness. Shape is (len(env_ids), len(fixed_tendon_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_stiffness:8 +msgid "The tendon indices to set the stiffness for. Defaults to None (all fixed tendons)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_damping:4 +msgid "This function does not apply the tendon damping to the simulation. It only fills the buffers with the desired values. To apply the tendon damping, call the :meth:`write_fixed_tendon_properties_to_sim` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_damping:7 +msgid "Fixed tendon damping. Shape is (len(env_ids), len(fixed_tendon_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_damping:8 +msgid "The tendon indices to set the damping for. Defaults to None (all fixed tendons)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit_stiffness:4 +msgid "This function does not apply the tendon limit stiffness to the simulation. It only fills the buffers with the desired values. To apply the tendon limit stiffness, call the :meth:`write_fixed_tendon_properties_to_sim` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit_stiffness:7 +msgid "Fixed tendon limit stiffness. Shape is (len(env_ids), len(fixed_tendon_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit_stiffness:8 +msgid "The tendon indices to set the limit stiffness for. Defaults to None (all fixed tendons)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit_stiffness:9 +msgid "The environment indices to set the limit stiffness for. Defaults to None (all environments)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit:4 +msgid "This function does not apply the tendon limit to the simulation. It only fills the buffers with the desired values. To apply the tendon limit, call the :meth:`write_fixed_tendon_properties_to_sim` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit:9 +msgid "Args:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit:8 +msgid "limit: Fixed tendon limit. Shape is (len(env_ids), len(fixed_tendon_ids)). fixed_tendon_ids: The tendon indices to set the limit for. Defaults to None (all fixed tendons). env_ids: The environment indices to set the limit for. Defaults to None (all environments)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_rest_length:4 +msgid "This function does not apply the tendon rest length to the simulation. It only fills the buffers with the desired values. To apply the tendon rest length, call the :meth:`write_fixed_tendon_properties_to_sim` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_rest_length:7 +msgid "Fixed tendon rest length. Shape is (len(env_ids), len(fixed_tendon_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_rest_length:8 +msgid "The tendon indices to set the rest length for. Defaults to None (all fixed tendons)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_rest_length:9 +msgid "The environment indices to set the rest length for. Defaults to None (all environments)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_offset:4 +msgid "This function does not apply the tendon offset to the simulation. It only fills the buffers with the desired values. To apply the tendon offset, call the :meth:`write_fixed_tendon_properties_to_sim` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_offset:7 +msgid "Fixed tendon offset. Shape is (len(env_ids), len(fixed_tendon_ids))." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_offset:8 +msgid "The tendon indices to set the offset for. Defaults to None (all fixed tendons)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_offset:9 +msgid "The environment indices to set the offset for. Defaults to None (all environments)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py:docstring of omni.isaac.lab.assets.articulation.articulation.Articulation.write_fixed_tendon_properties_to_sim:3 +msgid "The fixed tendon indices to set the limits for. Defaults to None (all fixed tendons)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData:1 +msgid "Bases: :py:class:`~omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData:3 +msgid "This class extends the :class:`RigidObjectData` class to provide additional data for an articulation mainly related to the joints and tendons." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData:1::1 +msgid ":py:obj:`update `\\ \\(dt\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_names:1 +msgid "Joint names in the order parsed by the simulation view." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`fixed_tendon_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.fixed_tendon_names:1 +msgid "Fixed tendon names in the order parsed by the simulation view." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`default_joint_pos `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default joint positions of all joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`default_joint_vel `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default joint velocities of all joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`default_joint_stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default joint stiffness of all joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`default_joint_damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default joint damping of all joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`default_joint_armature `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default joint armature of all joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`default_joint_friction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default joint friction of all joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`default_joint_limits `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default joint limits of all joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`default_fixed_tendon_stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default tendon stiffness of all tendons." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`default_fixed_tendon_damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default tendon damping of all tendons." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`default_fixed_tendon_limit_stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default tendon limit stiffness of all tendons." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`default_fixed_tendon_rest_length `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default tendon rest length of all tendons." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`default_fixed_tendon_offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default tendon offset of all tendons." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`default_fixed_tendon_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default tendon limits of all tendons." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_pos_target `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint position targets commanded by the user." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_vel_target `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint velocity targets commanded by the user." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_effort_target `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint effort targets commanded by the user." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`computed_torque `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint torques computed from the actuator model (before clipping)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`applied_torque `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint torques applied from the actuator model (after clipping)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`body_ang_vel_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`body_lin_vel_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`body_pos_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`body_quat_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`body_vel_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`heading_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint stiffness provided to simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`projected_gravity_b `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`root_ang_vel_b `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`root_ang_vel_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`root_lin_vel_b `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`root_lin_vel_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`root_pos_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`root_quat_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`root_vel_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint damping provided to simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_armature `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint armature provided to simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_friction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint friction provided to simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_limits `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint limits provided to simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`fixed_tendon_stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Fixed tendon stiffness provided to simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`fixed_tendon_damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Fixed tendon damping provided to simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`fixed_tendon_limit_stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Fixed tendon limit stiffness provided to simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`fixed_tendon_rest_length `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Fixed tendon rest length provided to simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`fixed_tendon_offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Fixed tendon offset provided to simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`fixed_tendon_limit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Fixed tendon limits provided to simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`soft_joint_pos_limits `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint positions limits for all joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`soft_joint_vel_limits `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint velocity limits for all joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`gear_ratio `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Gear ratio for relating motor torques to applied Joint torques." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`root_state_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`body_state_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`body_acc_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`body_lin_acc_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Linear acceleration of all bodies in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`body_ang_acc_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Angular acceleration of all bodies in simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_pos `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint positions of all joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_vel `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint velocities of all joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_acc `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint acceleration of all joints." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_joint_pos:1 +msgid "Default joint positions of all joints. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_joint_vel:1 +msgid "Default joint velocities of all joints. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_joint_stiffness:1 +msgid "Default joint stiffness of all joints. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_joint_damping:1 +msgid "Default joint damping of all joints. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_joint_armature:1 +msgid "Default joint armature of all joints. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_joint_friction:1 +msgid "Default joint friction of all joints. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_joint_limits:1 +msgid "Default joint limits of all joints. Shape is (num_instances, num_joints, 2)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_stiffness:1 +msgid "Default tendon stiffness of all tendons. Shape is (num_instances, num_fixed_tendons)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_damping:1 +msgid "Default tendon damping of all tendons. Shape is (num_instances, num_fixed_tendons)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit_stiffness:1 +msgid "Default tendon limit stiffness of all tendons. Shape is (num_instances, num_fixed_tendons)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_rest_length:1 +msgid "Default tendon rest length of all tendons. Shape is (num_instances, num_fixed_tendons)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_offset:1 +msgid "Default tendon offset of all tendons. Shape is (num_instances, num_fixed_tendons)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit:1 +msgid "Default tendon limits of all tendons. Shape is (num_instances, num_fixed_tendons, 2)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_pos_target:1 +msgid "Joint position targets commanded by the user. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_effort_target:3 +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_pos_target:3 +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_vel_target:3 +msgid "For an implicit actuator model, the targets are directly set into the simulation. For an explicit actuator model, the targets are used to compute the joint torques (see :attr:`applied_torque`), which are then set into the simulation." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_vel_target:1 +msgid "Joint velocity targets commanded by the user. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_effort_target:1 +msgid "Joint effort targets commanded by the user. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.computed_torque:1 +msgid "Joint torques computed from the actuator model (before clipping). Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.computed_torque:3 +msgid "This quantity is the raw torque output from the actuator mode, before any clipping is applied. It is exposed for users who want to inspect the computations inside the actuator model. For instance, to penalize the learning agent for a difference between the computed and applied torques." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.applied_torque:6 +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.computed_torque:7 +msgid "Note: The torques are zero for implicit actuator models." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.applied_torque:1 +msgid "Joint torques applied from the actuator model (after clipping). Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.applied_torque:3 +msgid "These torques are set into the simulation, after clipping the :attr:`computed_torque` based on the actuator model." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_stiffness:1 +msgid "Joint stiffness provided to simulation. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_damping:1 +msgid "Joint damping provided to simulation. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_armature:1 +msgid "Joint armature provided to simulation. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_friction:1 +msgid "Joint friction provided to simulation. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_limits:1 +msgid "Joint limits provided to simulation. Shape is (num_instances, num_joints, 2)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.fixed_tendon_stiffness:1 +msgid "Fixed tendon stiffness provided to simulation. Shape is (num_instances, num_fixed_tendons)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.fixed_tendon_damping:1 +msgid "Fixed tendon damping provided to simulation. Shape is (num_instances, num_fixed_tendons)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit_stiffness:1 +msgid "Fixed tendon limit stiffness provided to simulation. Shape is (num_instances, num_fixed_tendons)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.fixed_tendon_rest_length:1 +msgid "Fixed tendon rest length provided to simulation. Shape is (num_instances, num_fixed_tendons)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.fixed_tendon_offset:1 +msgid "Fixed tendon offset provided to simulation. Shape is (num_instances, num_fixed_tendons)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit:1 +msgid "Fixed tendon limits provided to simulation. Shape is (num_instances, num_fixed_tendons, 2)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.soft_joint_pos_limits:1 +msgid "Joint positions limits for all joints. Shape is (num_instances, num_joints, 2)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.soft_joint_vel_limits:1 +msgid "Joint velocity limits for all joints. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.gear_ratio:1 +msgid "Gear ratio for relating motor torques to applied Joint torques. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.body_state_w:1 +msgid "State of all bodies `[pos, quat, lin_vel, ang_vel]` in simulation world frame. Shape is (num_instances, num_bodies, 13)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.body_acc_w:1 +msgid "Acceleration of all bodies. Shape is (num_instances, num_bodies, 6)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.body_lin_acc_w:1 +msgid "Linear acceleration of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.body_ang_acc_w:1 +msgid "Angular acceleration of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.joint_pos:1 +msgid "Joint positions of all joints. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.joint_vel:1 +msgid "Joint velocities of all joints. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_data.py:docstring of omni.isaac.lab.assets.ArticulationData.joint_acc:1 +msgid "Joint acceleration of all joints. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg:1::1 +msgid ":py:obj:`InitialStateCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg:1::1 +msgid "Initial state of the articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1::1 +msgid ":py:obj:`init_state `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1::1 +msgid "Initial state of the articulated object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1::1 +msgid ":py:obj:`soft_joint_pos_limit_factor `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1::1 +msgid "Fraction specifying the range of DOF position limits (parsed from the asset) to use." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1::1 +msgid ":py:obj:`actuators `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1::1 +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.actuators:1 +msgid "Actuators for the robot with corresponding joint names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg.InitialStateCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos:1::1 +msgid ":py:obj:`joint_pos `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos:1::1 +msgid "Joint positions of the joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos:1::1 +msgid ":py:obj:`joint_vel `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation_cfg.py:docstring of omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos:1::1 +msgid "Joint velocities of the joints." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos:1 +msgid "Joint positions of the joints. Defaults to 0.0 for all joints." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_vel:1 +msgid "Joint velocities of the joints. Defaults to 0.0 for all joints." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.init_state:1 +msgid "Initial state of the articulated object. Defaults to identity pose with zero velocity and zero joint state." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.soft_joint_pos_limit_factor:1 +msgid "Fraction specifying the range of DOF position limits (parsed from the asset) to use. Defaults to 1.0." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.controllers.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.controllers.pot new file mode 100644 index 0000000000..09ecc702a6 --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.controllers.pot @@ -0,0 +1,318 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.controllers.rst:2 +msgid "omni.isaac.lab.controllers" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/__init__.py:docstring of omni.isaac.lab.controllers:1 +msgid "Sub-package for different controllers and motion-generators." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/__init__.py:docstring of omni.isaac.lab.controllers:3 +msgid "Controllers or motion generators are responsible for closed-loop tracking of a given command. The controller can be a simple PID controller or a more complex controller such as impedance control or inverse kinematics control. The controller is responsible for generating the desired joint-level commands to be sent to the robot." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.controllers.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.controllers.rst:11::1 +msgid ":py:obj:`DifferentialIKController `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.controllers.rst:11::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1 +msgid "Differential inverse kinematics (IK) controller." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.controllers.rst:11::1 +msgid ":py:obj:`DifferentialIKControllerCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.controllers.rst:11::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik_cfg.py:docstring of omni.isaac.lab.controllers.differential_ik_cfg.DifferentialIKControllerCfg:1 +msgid "Configuration for differential inverse kinematics controller." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.controllers.rst:14 +msgid "Differential Inverse Kinematics" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik_cfg.py:docstring of omni.isaac.lab.controllers.differential_ik_cfg.DifferentialIKControllerCfg:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:3 +msgid "This controller is based on the concept of differential inverse kinematics [1, 2] which is a method for computing the change in joint positions that yields the desired change in pose." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:6 +msgid "\\Delta \\mathbf{q} = \\mathbf{J}^{\\dagger} \\Delta \\mathbf{x}\n" +"\\mathbf{q}_{\\text{desired}} = \\mathbf{q}_{\\text{current}} + \\Delta \\mathbf{q}" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:11 +msgid "where :math:`\\mathbf{J}^{\\dagger}` is the pseudo-inverse of the Jacobian matrix :math:`\\mathbf{J}`, :math:`\\Delta \\mathbf{x}` is the desired change in pose, and :math:`\\mathbf{q}_{\\text{current}}` is the current joint positions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:19 +msgid "To deal with singularity in Jacobian, the following methods are supported for computing inverse of the Jacobian:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:16 +msgid "\"pinv\": Moore-Penrose pseudo-inverse" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:17 +msgid "\"svd\": Adaptive singular-value decomposition (SVD)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:18 +msgid "\"trans\": Transpose of matrix" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:19 +msgid "\"dls\": Damped version of Moore-Penrose pseudo-inverse (also called Levenberg-Marquardt)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:22 +msgid "The controller does not assume anything about the frames of the current and desired end-effector pose, or the joint-space velocities. It is up to the user to ensure that these quantities are given in the correct format." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:28 +msgid "Reference:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:27 +msgid "[1] https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2017/RD_HS2017script.pdf [2] https://www.cs.cmu.edu/~15464-s13/lectures/lecture6/iksurvey.pdf" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, num\\_envs\\, device\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid "Initialize the controller." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid "Reset the internals." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid ":py:obj:`set_command `\\ \\(command\\[\\, ee\\_pos\\, ee\\_quat\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid "Set target end-effector pose command." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid ":py:obj:`compute `\\ \\(ee\\_pos\\, ee\\_quat\\, jacobian\\, joint\\_pos\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid "Computes the target joint positions that will yield the desired end effector pose." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik_cfg.py:docstring of omni.isaac.lab.controllers.differential_ik_cfg.DifferentialIKControllerCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.__init__:1::1 +msgid ":py:obj:`action_dim `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.DifferentialIKController.action_dim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.__init__:1::1 +msgid "Dimension of the controller's input command." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.__init__:3 +msgid "The configuration for the controller." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.__init__:4 +msgid "The number of environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.__init__:5 +msgid "The device to use for computations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.reset:3 +msgid "The environment indices to reset. If None, then all environments are reset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:3 +msgid "Based on the configured command type and relative mode, the method computes the desired end-effector pose. It is up to the user to ensure that the command is given in the correct frame. The method only applies the relative mode if the command type is ``position_rel`` or ``pose_rel``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:7 +msgid "The input command in shape (N, 3) or (N, 6) or (N, 7)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:8 +msgid "The current end-effector position in shape (N, 3). This is only needed if the command type is ``position_rel`` or ``pose_rel``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:10 +msgid "The current end-effector orientation (w, x, y, z) in shape (N, 4). This is only needed if the command type is ``position_*`` or ``pose_rel``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:13 +msgid "If the command type is ``position_*`` and :attr:`ee_quat` is None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:14 +msgid "If the command type is ``position_rel`` and :attr:`ee_pos` is None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:15 +msgid "If the command type is ``pose_rel`` and either :attr:`ee_pos` or :attr:`ee_quat` is None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute:3 +msgid "The current end-effector position in shape (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute:4 +msgid "The current end-effector orientation in shape (N, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute:5 +msgid "The geometric jacobian matrix in shape (N, 6, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute:6 +msgid "The current joint positions in shape (N, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik.py:docstring of omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute:8 +msgid "The target joint positions commands in shape (N, num_joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik_cfg.py:docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +msgid ":py:obj:`command_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik_cfg.py:docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1 +msgid "Type of task-space command to control the articulation's body." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik_cfg.py:docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +msgid ":py:obj:`use_relative_mode `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik_cfg.py:docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +msgid "Whether to use relative mode for the controller." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik_cfg.py:docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +msgid ":py:obj:`ik_method `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik_cfg.py:docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_method:1 +msgid "Method for computing inverse of Jacobian." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik_cfg.py:docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +msgid ":py:obj:`ik_params `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/controllers/differential_ik_cfg.py:docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +msgid "Parameters for the inverse-kinematics method." +msgstr "" + +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:3 +msgid "If \"position\", then the controller only controls the position of the articulation's body. Otherwise, the controller controls the pose of the articulation's body." +msgstr "" + +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.use_relative_mode:1 +msgid "Whether to use relative mode for the controller. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.use_relative_mode:3 +msgid "If True, then the controller treats the input command as a delta change in the position/pose. Otherwise, the controller treats the input command as the absolute position/pose." +msgstr "" + +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:1 +msgid "Parameters for the inverse-kinematics method. Defaults to None, in which case the default parameters for the method are used." +msgstr "" + +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:4 +msgid "Moore-Penrose pseudo-inverse (\"pinv\"):" +msgstr "" + +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:5 +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:7 +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:10 +msgid "\"k_val\": Scaling of computed delta-joint positions (default: 1.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:7 +msgid "Adaptive Singular Value Decomposition (\"svd\"):" +msgstr "" + +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:8 +msgid "\"min_singular_value\": Single values less than this are suppressed to zero (default: 1e-5)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:9 +msgid "Jacobian transpose (\"trans\"):" +msgstr "" + +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:11 +msgid "Damped Moore-Penrose pseudo-inverse (\"dls\"):" +msgstr "" + +#: ../../docstring of omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:12 +msgid "\"lambda_val\": Damping coefficient (default: 0.01)." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.devices.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.devices.pot new file mode 100644 index 0000000000..ca8cf364d8 --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.devices.pot @@ -0,0 +1,789 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:2 +msgid "omni.isaac.lab.devices" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/__init__.py:docstring of omni.isaac.lab.devices:1 +msgid "Sub-package providing interfaces to different teleoperation devices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/__init__.py:docstring of omni.isaac.lab.devices:3 +msgid "Currently, the following categories of devices are supported:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/__init__.py:docstring of omni.isaac.lab.devices:5 +msgid "**Keyboard**: Standard keyboard with WASD and arrow keys." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/__init__.py:docstring of omni.isaac.lab.devices:6 +msgid "**Spacemouse**: 3D mouse with 6 degrees of freedom." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/__init__.py:docstring of omni.isaac.lab.devices:7 +msgid "**Gamepad**: Gamepad with 2D two joysticks and buttons. Example: Xbox controller." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/__init__.py:docstring of omni.isaac.lab.devices:9 +msgid "All device interfaces inherit from the :class:`DeviceBase` class, which provides a common interface for all devices. The device interface reads the input data when the :meth:`DeviceBase.advance` method is called. It also provides the function :meth:`DeviceBase.add_callback` to add user-defined callback functions to be called when a particular input is pressed from the peripheral device." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +msgid ":py:obj:`DeviceBase `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase:1 +msgid "An interface class for teleoperation devices." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +msgid ":py:obj:`Se2Gamepad `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:1 +msgid "A gamepad controller for sending SE(2) commands as velocity commands." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +msgid ":py:obj:`Se3Gamepad `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:1 +msgid "A gamepad controller for sending SE(3) commands as delta poses and binary command (open/close)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +msgid ":py:obj:`Se2Keyboard `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:1 +msgid "A keyboard controller for sending SE(2) commands as velocity commands." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +msgid ":py:obj:`Se3Keyboard `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:1 +msgid "A keyboard controller for sending SE(3) commands as delta poses and binary command (open/close)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +msgid ":py:obj:`Se3SpaceMouse `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:1 +msgid "A space-mouse controller for sending SE(3) commands as delta poses." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:19 +msgid "Device Base" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +msgid "Initialize the teleoperation interface." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.reset:1 +msgid "Reset the internals." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +msgid ":py:obj:`add_callback `\\ \\(key\\, func\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.add_callback:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.add_callback:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.add_callback:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.add_callback:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.add_callback:1 +msgid "Add additional functions to bind keyboard." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +msgid ":py:obj:`advance `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.advance:1 +msgid "Provides the joystick event state." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.add_callback:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.add_callback:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.add_callback:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.add_callback:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.add_callback:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.add_callback:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.add_callback:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.add_callback:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.add_callback:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.add_callback:3 +msgid "The button to check against." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.add_callback:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.add_callback:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.add_callback:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.add_callback:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.add_callback:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.add_callback:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.add_callback:4 +msgid "The function to call when key is pressed. The callback function should not take any arguments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.advance:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.advance:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.advance:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.advance:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.advance:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.advance:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.advance:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/device_base.py:docstring of omni.isaac.lab.devices.device_base.DeviceBase.advance:3 +msgid "The processed output form the joystick." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:25 +msgid "Game Pad" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:1 +msgid "Bases: :py:class:`~omni.isaac.lab.devices.device_base.DeviceBase`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:3 +msgid "This class is designed to provide a gamepad controller for mobile base (such as quadrupeds). It uses the Omniverse gamepad interface to listen to gamepad events and map them to robot's task-space commands." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:6 +msgid "The command comprises of the base linear and angular velocity: :math:`(v_x, v_y, \\omega_z)`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:23 +msgid "Key bindings:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:11 +msgid "Command" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:14 +msgid "Key (+ve axis)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:14 +msgid "Key (-ve axis)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:17 +msgid "Move along x-axis" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:13 +msgid "left stick up" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:13 +msgid "left stick down" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:18 +msgid "Move along y-axis" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:14 +msgid "left stick right" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:14 +msgid "left stick left" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:22 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:22 +msgid "Rotate along z-axis" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:15 +msgid "right stick right" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:15 +msgid "right stick left" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:27 +msgid "The official documentation for the gamepad interface: `Carb Gamepad Interface `__." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\[v\\_x\\_sensitivity\\, v\\_y\\_sensitivity\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +msgid "Initialize the gamepad layer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +msgid ":py:obj:`add_callback `\\ \\(key\\, func\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.add_callback:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.add_callback:1 +msgid "Add additional functions to bind gamepad." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +msgid ":py:obj:`advance `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.advance:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.advance:1 +msgid "Provides the result from gamepad event state." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:3 +msgid "Magnitude of linear velocity along x-direction scaling. Defaults to 1.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:4 +msgid "Magnitude of linear velocity along y-direction scaling. Defaults to 1.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:5 +msgid "Magnitude of angular velocity along z-direction scaling. Defaults to 1.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:5 +msgid "Magnitude of dead zone for gamepad. An event value from the gamepad less than this value will be ignored. Defaults to 0.01." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.add_callback:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.add_callback:3 +msgid "A list of available gamepad keys are present in the `carb documentation `__." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.add_callback:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.add_callback:6 +msgid "The gamepad button to check against." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.advance:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.advance:3 +msgid "A 3D array containing the linear (x,y) and angular velocity (z)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:3 +msgid "This class is designed to provide a gamepad controller for a robotic arm with a gripper. It uses the gamepad interface to listen to gamepad events and map them to the robot's task-space commands." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:6 +msgid "The command comprises of two parts:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:8 +msgid "delta pose: a 6D vector of (x, y, z, roll, pitch, yaw) in meters and radians." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:9 +msgid "gripper: a binary command to open or close the gripper." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:23 +msgid "Stick and Button bindings:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:14 +msgid "Description" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:14 +msgid "Stick/Button (+ve axis)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:14 +msgid "Stick/Button (-ve axis)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:16 +msgid "Toggle gripper(open/close)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:16 +msgid "X Button" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:17 +msgid "Left Stick Up" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:17 +msgid "Left Stick Down" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:18 +msgid "Left Stick Left" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:18 +msgid "Left Stick Right" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:19 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:19 +msgid "Move along z-axis" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:19 +msgid "Right Stick Up" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:19 +msgid "Right Stick Down" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:20 +msgid "Rotate along x-axis" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:20 +msgid "D-Pad Left" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:20 +msgid "D-Pad Right" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:21 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:21 +msgid "Rotate along y-axis" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:21 +msgid "D-Pad Down" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:21 +msgid "D-Pad Up" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:22 +msgid "Right Stick Left" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:22 +msgid "Right Stick Right" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\[pos\\_sensitivity\\, rot\\_sensitivity\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +msgid ":py:obj:`add_callback `\\ \\(key\\, func\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +msgid ":py:obj:`advance `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:3 +msgid "Magnitude of input position command scaling. Defaults to 1.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:4 +msgid "Magnitude of scale input rotation commands scaling. Defaults to 1.6." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py:docstring of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.advance:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.advance:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.advance:3 +msgid "A tuple containing the delta pose command and gripper commands." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:38 +msgid "Keyboard" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:3 +msgid "This class is designed to provide a keyboard controller for mobile base (such as quadrupeds). It uses the Omniverse keyboard interface to listen to keyboard events and map them to robot's task-space commands." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:13 +msgid "Numpad 8 / Arrow Up" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:13 +msgid "Numpad 2 / Arrow Down" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:14 +msgid "Numpad 4 / Arrow Right" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:14 +msgid "Numpad 6 / Arrow Left" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:15 +msgid "Numpad 7 / X" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:15 +msgid "Numpad 9 / Y" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:27 +msgid "The official documentation for the keyboard interface: `Carb Keyboard Interface `__." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\[v\\_x\\_sensitivity\\, v\\_y\\_sensitivity\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +msgid "Initialize the keyboard layer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +msgid ":py:obj:`add_callback `\\ \\(key\\, func\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +msgid ":py:obj:`advance `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.advance:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.advance:1 +msgid "Provides the result from keyboard event state." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:3 +msgid "Magnitude of linear velocity along x-direction scaling. Defaults to 0.8." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:4 +msgid "Magnitude of linear velocity along y-direction scaling. Defaults to 0.4." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.add_callback:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.add_callback:3 +msgid "A list of available keys are present in the `carb documentation `__." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.add_callback:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.add_callback:6 +msgid "The keyboard button to check against." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.advance:3 +msgid "3D array containing the linear (x,y) and angular velocity (z)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:3 +msgid "This class is designed to provide a keyboard controller for a robotic arm with a gripper. It uses the Omniverse keyboard interface to listen to keyboard events and map them to robot's task-space commands." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:16 +msgid "Toggle gripper (open/close)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:16 +msgid "K" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:17 +msgid "W" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:17 +msgid "S" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:18 +msgid "A" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:18 +msgid "D" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:19 +msgid "Q" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:19 +msgid "E" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:20 +msgid "Z" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:20 +msgid "X" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:21 +msgid "T" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:21 +msgid "G" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:22 +msgid "C" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:22 +msgid "V" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\[pos\\_sensitivity\\, rot\\_sensitivity\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +msgid ":py:obj:`add_callback `\\ \\(key\\, func\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +msgid ":py:obj:`advance `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:3 +msgid "Magnitude of input position command scaling. Defaults to 0.05." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py:docstring of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:4 +msgid "Magnitude of scale input rotation commands scaling. Defaults to 0.5." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:51 +msgid "Space Mouse" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:1 +msgid "A space-mouse controller for sending SE(2) commands as delta poses." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:3 +msgid "This class implements a space-mouse controller to provide commands to mobile base. It uses the `HID-API`_ which interfaces with USD and Bluetooth HID-class devices across multiple platforms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:11 +msgid "The interface finds and uses the first supported device connected to the computer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:13 +msgid "Currently tested for following devices:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:15 +msgid "SpaceMouse Compact: https://3dconnexion.com/de/product/spacemouse-compact/" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\[v\\_x\\_sensitivity\\, v\\_y\\_sensitivity\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +msgid "Initialize the spacemouse layer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +msgid ":py:obj:`add_callback `\\ \\(key\\, func\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +msgid ":py:obj:`advance `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se2_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.advance:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.advance:1 +msgid "Provides the result from spacemouse event state." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:3 +msgid "This class implements a space-mouse controller to provide commands to a robotic arm with a gripper. It uses the `HID-API`_ which interfaces with USD and Bluetooth HID-class devices across multiple platforms [1]." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\[pos\\_sensitivity\\, rot\\_sensitivity\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +msgid "Initialize the space-mouse layer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +msgid ":py:obj:`add_callback `\\ \\(key\\, func\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +msgid ":py:obj:`advance `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:3 +msgid "Magnitude of input position command scaling. Defaults to 0.4." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/devices/spacemouse/se3_spacemouse.py:docstring of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:4 +msgid "Magnitude of scale input rotation commands scaling. Defaults to 0.8." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.envs.mdp.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.envs.mdp.pot new file mode 100644 index 0000000000..997376731c --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.envs.mdp.pot @@ -0,0 +1,1970 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:2 +msgid "omni.isaac.lab.envs.mdp" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/__init__.py:docstring of omni.isaac.lab.envs.mdp:1 +msgid "Sub-module with implementation of manager terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/__init__.py:docstring of omni.isaac.lab.envs.mdp:3 +msgid "The functions can be provided to different managers that are responsible for the different aspects of the MDP. These include the observation, reward, termination, actions, events and curriculum managers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/__init__.py:docstring of omni.isaac.lab.envs.mdp:7 +msgid "The terms are defined under the ``envs`` module because they are used to define the environment. However, they are not part of the environment directly, but are used to define the environment through their managers." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:7 +msgid "Observations" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations:1 +msgid "Common functions that can be used to create observation terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations:3 +msgid "The functions can be passed to the :class:`omni.isaac.lab.managers.ObservationTermCfg` object to enable the observation introduced by the function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py:docstring of omni.isaac.lab.envs.mdp.curriculums:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations:1 +msgid "**Functions:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`base_pos_z `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "Root height in the simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`base_lin_vel `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_lin_vel:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "Root linear velocity in the asset's root frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`base_ang_vel `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_ang_vel:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "Root angular velocity in the asset's root frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`projected_gravity `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.projected_gravity:1 +msgid "Gravity projection on the asset's root frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`root_pos_w `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.root_pos_w:1 +msgid "Asset root position in the environment frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`root_quat_w `\\ \\(env\\[\\, make\\_quat\\_unique\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.root_quat_w:1 +msgid "Asset root orientation (w, x, y, z) in the environment frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`root_lin_vel_w `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.root_lin_vel_w:1 +msgid "Asset root linear velocity in the environment frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`root_ang_vel_w `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.root_ang_vel_w:1 +msgid "Asset root angular velocity in the environment frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`joint_pos `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.joint_pos:1 +msgid "The joint positions of the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`joint_pos_rel `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "The joint positions of the asset w.r.t." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`joint_pos_limit_normalized `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.joint_pos_limit_normalized:1 +msgid "The joint positions of the asset normalized with the asset's joint limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`joint_vel `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.joint_vel:1 +msgid "The joint velocities of the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`joint_vel_rel `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "The joint velocities of the asset w.r.t." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`height_scan `\\ \\(env\\, sensor\\_cfg\\[\\, offset\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "Height scan from the given sensor w.r.t." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`body_incoming_wrench `\\ \\(env\\, asset\\_cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.body_incoming_wrench:1 +msgid "Incoming spatial wrench on bodies of an articulation in the simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`last_action `\\ \\(env\\[\\, action\\_name\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.last_action:1 +msgid "The last input action to the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid ":py:obj:`generated_commands `\\ \\(env\\, command\\_name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.generated_commands:1 +msgid "The generated command from command term in the command manager with the given name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.root_quat_w:3 +msgid "If :attr:`make_quat_unique` is True, then returned quaternion is made unique by ensuring the quaternion has non-negative real component. This is because both ``q`` and ``-q`` represent the same orientation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.joint_pos:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.joint_pos_rel:3 +msgid "Note: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their positions returned." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.joint_pos_rel:1 +msgid "The joint positions of the asset w.r.t. the default joint positions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.joint_pos_limit_normalized:3 +msgid "Note: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their normalized positions returned." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.joint_vel:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.joint_vel_rel:3 +msgid "Note: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their velocities returned." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.joint_vel_rel:1 +msgid "The joint velocities of the asset w.r.t. the default joint velocities." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.height_scan:1 +msgid "Height scan from the given sensor w.r.t. the sensor's frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.height_scan:3 +msgid "The provided offset (Defaults to 0.5) is subtracted from the returned values." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.body_incoming_wrench:3 +msgid "This is the 6-D wrench (force and torque) applied to the body link by the incoming joint force." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/observations.py:docstring of omni.isaac.lab.envs.mdp.observations.last_action:3 +msgid "The name of the action term for which the action is required. If None, the entire action tensor is returned." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:13 +msgid "Actions" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/__init__.py:docstring of omni.isaac.lab.envs.mdp.actions:1 +msgid "Various action terms that can be used in the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1 +msgid "**Classes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid ":py:obj:`JointActionCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "Configuration for the base joint action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid ":py:obj:`JointPositionActionCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg:1 +msgid "Configuration for the joint position action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid ":py:obj:`RelativeJointPositionActionCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg:1 +msgid "Configuration for the relative joint position action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid ":py:obj:`JointVelocityActionCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg:1 +msgid "Configuration for the joint velocity action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid ":py:obj:`JointEffortActionCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg:1 +msgid "Configuration for the joint effort action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid ":py:obj:`JointPositionToLimitsActionCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg:1 +msgid "Configuration for the bounded joint position action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid ":py:obj:`EMAJointPositionToLimitsActionCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "Configuration for the exponential moving average (EMA) joint position action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid ":py:obj:`BinaryJointActionCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "Configuration for the base binary joint action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid ":py:obj:`BinaryJointPositionActionCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "Configuration for the binary joint position action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid ":py:obj:`BinaryJointVelocityActionCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "Configuration for the binary joint velocity action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid ":py:obj:`NonHolonomicActionCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg:1 +msgid "Configuration for the non-holonomic action term with dummy joints at the base." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid ":py:obj:`DifferentialInverseKinematicsActionCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "Configuration for inverse differential kinematics action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.managers.manager_term_cfg.ActionTermCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:3 +msgid "See :class:`JointAction` for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.joint_names:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.joint_names:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.joint_names:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.joint_names:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.joint_names:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.joint_names:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.joint_names:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.joint_names:1 +msgid "List of joint names or regex expressions that the action will be mapped to." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names:1::1 +msgid ":py:obj:`scale `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names:1::1 +msgid "Scale factor for the action (float or dict of regex expressions)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names:1::1 +msgid ":py:obj:`offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names:1::1 +msgid "Offset factor for the action (float or dict of regex expressions)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.scale:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.scale:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.scale:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.scale:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.scale:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.scale:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.scale:1 +msgid "Scale factor for the action (float or dict of regex expressions). Defaults to 1.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.offset:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.offset:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.offset:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.offset:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.offset:1 +msgid "Offset factor for the action (float or dict of regex expressions). Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.asset_name:1 +msgid "The name of the scene entity." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.asset_name:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.asset_name:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.asset_name:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.asset_name:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.asset_name:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.asset_name:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.asset_name:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.asset_name:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.asset_name:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.asset_name:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.asset_name:3 +msgid "This is the name defined in the scene configuration file. See the :class:`InteractiveSceneCfg` class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.debug_vis:1 +msgid "Whether to visualize debug information. Defaults to False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg:3 +msgid "See :class:`JointPositionAction` for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset:1::1 +msgid ":py:obj:`use_default_offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset:1::1 +msgid "Whether to use default joint positions configured in the articulation asset as offset." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset:1 +msgid "Whether to use default joint positions configured in the articulation asset as offset. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset:4 +msgid "If True, this flag results in overwriting the values of :attr:`offset` to the default joint positions from the articulation asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg:3 +msgid "See :class:`RelativeJointPositionAction` for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset:1::1 +msgid ":py:obj:`use_zero_offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset:1::1 +msgid "Whether to ignore the offset defined in articulation asset." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset:1 +msgid "Whether to ignore the offset defined in articulation asset. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset:3 +msgid "If True, this flag results in overwriting the values of :attr:`offset` to zero." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg:3 +msgid "See :class:`JointVelocityAction` for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset:1::1 +msgid ":py:obj:`use_default_offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset:1::1 +msgid "Whether to use default joint velocities configured in the articulation asset as offset." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset:1 +msgid "Whether to use default joint velocities configured in the articulation asset as offset. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset:4 +msgid "This overrides the settings from :attr:`offset` if set to True." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg:3 +msgid "See :class:`JointEffortAction` for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg:3 +msgid "See :class:`JointPositionWithinLimitsAction` for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names:1::1 +msgid ":py:obj:`scale `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names:1::1 +msgid ":py:obj:`rescale_to_limits `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names:1::1 +msgid "Whether to rescale the action to the joint limits." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.rescale_to_limits:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.rescale_to_limits:1 +msgid "Whether to rescale the action to the joint limits. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.rescale_to_limits:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.rescale_to_limits:3 +msgid "If True, the input actions are rescaled to the joint limits, i.e., the action value in the range [-1, 1] corresponds to the joint lower and upper limits respectively." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.rescale_to_limits:6 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.rescale_to_limits:6 +msgid "This operation is performed after applying the scale factor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg:3 +msgid "See :class:`EMAJointPositionToLimitsAction` for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha:1::1 +msgid ":py:obj:`alpha `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha:1::1 +msgid "The weight for the moving average (float or dict of regex expressions)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha:1 +msgid "The weight for the moving average (float or dict of regex expressions). Defaults to 1.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha:3 +msgid "If set to 1.0, the processed action is applied directly without any moving average window." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg:3 +msgid "See :class:`BinaryJointAction` for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names:1::1 +msgid ":py:obj:`open_command_expr `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.open_command_expr:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.open_command_expr:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.open_command_expr:1 +msgid "The joint command to move to *open* configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names:1::1 +msgid ":py:obj:`close_command_expr `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.close_command_expr:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.close_command_expr:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.close_command_expr:1 +msgid "The joint command to move to *close* configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg:3 +msgid "See :class:`BinaryJointPositionAction` for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg:3 +msgid "See :class:`BinaryJointVelocityAction` for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg:3 +msgid "See :class:`NonHolonomicAction` for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid ":py:obj:`body_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1 +msgid "Name of the body which has the dummy mechanism connected to." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid ":py:obj:`x_joint_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.x_joint_name:1 +msgid "The dummy joint name in the x direction." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid ":py:obj:`y_joint_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.y_joint_name:1 +msgid "The dummy joint name in the y direction." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid ":py:obj:`yaw_joint_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.yaw_joint_name:1 +msgid "The dummy joint name in the yaw direction." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid ":py:obj:`scale `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid "Scale factor for the action." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid ":py:obj:`offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid "Offset factor for the action." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.scale:1 +msgid "Scale factor for the action. Defaults to (1.0, 1.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.offset:1 +msgid "Offset factor for the action. Defaults to (0.0, 0.0)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg:3 +msgid "See :class:`DifferentialInverseKinematicsAction` for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg:1::1 +msgid ":py:obj:`OffsetCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg:1::1 +msgid "The offset pose from parent frame to child frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +msgid ":py:obj:`body_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_name:1 +msgid "Name of the body or frame for which IK is performed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +msgid ":py:obj:`body_offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +msgid "Offset of target frame w.r.t." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +msgid ":py:obj:`scale `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +msgid ":py:obj:`controller `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.controller:1 +msgid "The configuration for the differential IK controller." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg:3 +msgid "On many robots, end-effector frames are fictitious frames that do not have a corresponding rigid body. In such cases, it is easier to define this transform w.r.t. their parent rigid body. For instance, for the Franka Emika arm, the end-effector is defined at an offset to the the \"panda_hand\" frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`pos `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos:1::1 +msgid "Translation w.r.t." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`rot `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py:docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos:1::1 +msgid "Quaternion rotation ``(w, x, y, z)`` w.r.t." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos:1 +msgid "Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.rot:1 +msgid "Quaternion rotation ``(w, x, y, z)`` w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_offset:1 +msgid "Offset of target frame w.r.t. to the body frame. Defaults to None, in which case no offset is applied." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.scale:1 +msgid "Scale factor for the action. Defaults to 1.0." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:23 +msgid "Events" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events:1 +msgid "Common functions that can be used to enable different events." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events:3 +msgid "Events include anything related to altering the simulation state. This includes changing the physics materials, applying external forces, and resetting the state of the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events:6 +msgid "The functions can be passed to the :class:`omni.isaac.lab.managers.EventTermCfg` object to enable the event introduced by the function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`randomize_rigid_body_material `\\ \\(env\\, env\\_ids\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "Randomize the physics materials on all geometries of the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`add_body_mass `\\ \\(env\\, env\\_ids\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.add_body_mass:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "Randomize the mass of the bodies by adding a random value sampled from the given range." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`randomize_rigid_body_mass `\\ \\(env\\, env\\_ids\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "Randomize the mass of the bodies by adding, scaling, or setting random values." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`randomize_physics_scene_gravity `\\ \\(env\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "Randomize gravity by adding, scaling, or setting random values." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`randomize_actuator_gains `\\ \\(env\\, env\\_ids\\, asset\\_cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_actuator_gains:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "Randomize the actuator gains in an articulation by adding, scaling, or setting random values." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`randomize_joint_parameters `\\ \\(env\\, env\\_ids\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_joint_parameters:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "Randomize the joint parameters of an articulation by adding, scaling, or setting random values." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`randomize_fixed_tendon_parameters `\\ \\(env\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "Randomize the fixed tendon parameters of an articulation by adding, scaling, or setting random values." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`apply_external_force_torque `\\ \\(env\\, env\\_ids\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.apply_external_force_torque:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "Randomize the external forces and torques applied to the bodies." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`push_by_setting_velocity `\\ \\(env\\, env\\_ids\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.push_by_setting_velocity:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "Push the asset by setting the root velocity to a random value within the given ranges." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`reset_root_state_uniform `\\ \\(env\\, env\\_ids\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_uniform:1 +msgid "Reset the asset root state to a random position and velocity uniformly within the given ranges." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`reset_root_state_with_random_orientation `\\ \\(...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:1 +msgid "Reset the asset root position and velocities sampled randomly within the given ranges and the asset root orientation sampled randomly from the SO(3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`reset_root_state_from_terrain `\\ \\(env\\, env\\_ids\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:1 +msgid "Reset the asset root state by sampling a random valid pose from the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`reset_joints_by_scale `\\ \\(env\\, env\\_ids\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_joints_by_scale:1 +msgid "Reset the robot joints by scaling the default position and velocity by the given ranges." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`reset_joints_by_offset `\\ \\(env\\, env\\_ids\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_joints_by_offset:1 +msgid "Reset the robot joints with offsets around the default position and velocity by the given ranges." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid ":py:obj:`reset_scene_to_default `\\ \\(env\\, env\\_ids\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_scene_to_default:1 +msgid "Reset the scene to the default state specified in the scene configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:3 +msgid "This function creates a set of physics materials with random static friction, dynamic friction, and restitution values. The number of materials is specified by ``num_buckets``. The materials are generated by sampling uniform random values from the given ranges." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:7 +msgid "The material properties are then assigned to the geometries of the asset. The assignment is done by creating a random integer tensor of shape (num_instances, max_num_shapes) where ``num_instances`` is the number of assets spawned and ``max_num_shapes`` is the maximum number of shapes in the asset (over all bodies). The integer values are used as indices to select the material properties from the material buckets." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:14 +msgid "This function uses CPU tensors to assign the material properties. It is recommended to use this function only during the initialization of the environment. Otherwise, it may lead to a significant performance overhead." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:19 +msgid "PhysX only allows 64000 unique physics materials in the scene. If the number of materials exceeds this limit, the simulation will crash." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.add_body_mass:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass:7 +msgid "This function uses CPU tensors to assign the body masses. It is recommended to use this function only during the initialization of the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.add_body_mass:7 +msgid "This function is deprecated. Please use :func:`randomize_rigid_body_mass` with ``operation=\"add\"`` instead." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass:3 +msgid "This function allows randomizing the mass of the bodies of the asset. The function samples random values from the given distribution parameters and adds, scales, or sets the values into the physics simulation based on the operation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity:3 +msgid "This function allows randomizing gravity of the physics scene. The function samples random values from the given distribution parameters and adds, scales, or sets the values into the physics simulation based on the operation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity:7 +msgid "The distribution parameters are lists of two elements each, representing the lower and upper bounds of the distribution for the x, y, and z components of the gravity vector. The function samples random values for each component independently." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity:12 +msgid "This function applied the same gravity for all the environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity:15 +msgid "This function uses CPU tensors to assign gravity." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_actuator_gains:3 +msgid "This function allows randomizing the actuator stiffness and damping gains." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_actuator_gains:5 +msgid "The function samples random values from the given distribution parameters and applies the operation to the joint properties. It then sets the values into the actuator models. If the distribution parameters are not provided for a particular property, the function does not modify the property." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_actuator_gains:10 +msgid "For implicit actuators, this function uses CPU tensors to assign the actuator gains into the simulation. In such cases, it is recommended to use this function only during the initialization of the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_actuator_gains:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_actuator_gains:13 +msgid "If the joint indices are in explicit motor mode. This operation is currently not supported for explicit actuator models." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_joint_parameters:3 +msgid "This function allows randomizing the joint parameters of the asset. These correspond to the physics engine joint properties that affect the joint behavior." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_joint_parameters:6 +msgid "The function samples random values from the given distribution parameters and applies the operation to the joint properties. It then sets the values into the physics simulation. If the distribution parameters are not provided for a particular property, the function does not modify the property." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_joint_parameters:11 +msgid "This function uses CPU tensors to assign the joint properties. It is recommended to use this function only during the initialization of the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters:3 +msgid "This function allows randomizing the fixed tendon parameters of the asset. These correspond to the physics engine tendon properties that affect the joint behavior." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters:6 +msgid "The function samples random values from the given distribution parameters and applies the operation to the tendon properties. It then sets the values into the physics simulation. If the distribution parameters are not provided for a particular property, the function does not modify the property." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.apply_external_force_torque:3 +msgid "This function creates a set of random forces and torques sampled from the given ranges. The number of forces and torques is equal to the number of bodies times the number of environments. The forces and torques are applied to the bodies by calling ``asset.set_external_force_and_torque``. The forces and torques are only applied when ``asset.write_data_to_sim()`` is called in the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.push_by_setting_velocity:3 +msgid "This creates an effect similar to pushing the asset with a random impulse that changes the asset's velocity. It samples the root velocity from the given ranges and sets the velocity into the physics simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.push_by_setting_velocity:6 +msgid "The function takes a dictionary of velocity ranges for each axis and rotation. The keys of the dictionary are ``x``, ``y``, ``z``, ``roll``, ``pitch``, and ``yaw``. The values are tuples of the form ``(min, max)``. If the dictionary does not contain a key, the velocity is set to zero for that axis." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_uniform:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:4 +msgid "This function randomizes the root position and velocity of the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_uniform:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:6 +msgid "It samples the root position from the given ranges and adds them to the default root position, before setting them into the physics simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_uniform:7 +msgid "It samples the root orientation from the given ranges and sets them into the physics simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_uniform:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:9 +msgid "It samples the root velocity from the given ranges and sets them into the physics simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_uniform:10 +msgid "The function takes a dictionary of pose and velocity ranges for each axis and rotation. The keys of the dictionary are ``x``, ``y``, ``z``, ``roll``, ``pitch``, and ``yaw``. The values are tuples of the form ``(min, max)``. If the dictionary does not contain a key, the position or velocity is set to zero for that axis." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:8 +msgid "It samples the root orientation uniformly from the SO(3) and sets them into the physics simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:11 +msgid "The function takes a dictionary of position and velocity ranges for each axis and rotation:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:13 +msgid ":attr:`pose_range` - a dictionary of position ranges for each axis. The keys of the dictionary are ``x``, ``y``, and ``z``. The orientation is sampled uniformly from the SO(3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:15 +msgid ":attr:`velocity_range` - a dictionary of velocity ranges for each axis and rotation. The keys of the dictionary are ``x``, ``y``, ``z``, ``roll``, ``pitch``, and ``yaw``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:18 +msgid "The values are tuples of the form ``(min, max)``. If the dictionary does not contain a particular key, the position is set to zero for that axis." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:3 +msgid "This function samples a random valid pose(based on flat patches) from the terrain and sets the root state of the asset to this position. The function also samples random velocities from the given ranges and sets them into the physics simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:9 +msgid ":attr:`pose_range` - a dictionary of pose ranges for each axis. The keys of the dictionary are ``roll``, ``pitch``, and ``yaw``. The position is sampled from the flat patches of the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:19 +msgid "The function expects the terrain to have valid flat patches under the key \"init_pos\". The flat patches are used to sample the random pose for the robot." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:22 +msgid "If the terrain does not have valid flat patches under the key \"init_pos\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_joints_by_scale:3 +msgid "This function samples random values from the given ranges and scales the default joint positions and velocities by these values. The scaled values are then set into the physics simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py:docstring of omni.isaac.lab.envs.mdp.events.reset_joints_by_offset:3 +msgid "This function samples random values from the given ranges and biases the default joint positions and velocities by these values. The biased values are then set into the physics simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:29 +msgid "Commands" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/__init__.py:docstring of omni.isaac.lab.envs.mdp.commands:1 +msgid "Various command terms that can be used in the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid ":py:obj:`NullCommandCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid "Configuration for the null command generator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid ":py:obj:`UniformVelocityCommandCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1 +msgid "Configuration for the uniform velocity command generator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid ":py:obj:`NormalVelocityCommandCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid "Configuration for the normal velocity command generator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid ":py:obj:`UniformPoseCommandCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1 +msgid "Configuration for uniform pose command generator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid ":py:obj:`UniformPose2dCommandCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1 +msgid "Configuration for the uniform 2D-pose command generator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid ":py:obj:`TerrainBasedPose2dCommandCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg:1 +msgid "Configuration for the terrain-based position command generator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.managers.manager_term_cfg.CommandTermCfg`" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.resampling_time_range:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.resampling_time_range:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.resampling_time_range:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.resampling_time_range:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.resampling_time_range:1 +msgid "Time before commands are changed [s]." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid ":py:obj:`asset_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name:1 +msgid "Name of the asset in the environment for which the commands are generated." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid ":py:obj:`heading_command `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command:1 +msgid "Whether to use heading command or angular velocity command." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid ":py:obj:`heading_control_stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_control_stiffness:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_control_stiffness:1 +msgid "Scale factor to convert the heading error to angular velocity command." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid ":py:obj:`rel_standing_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_standing_envs:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_standing_envs:1 +msgid "Probability threshold for environments where the robots that are standing still." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid ":py:obj:`rel_heading_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_heading_envs:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_heading_envs:1 +msgid "Probability threshold for environments where the robots follow the heading-based angular velocity command (the others follow the sampled angular velocity command)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid ":py:obj:`ranges `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.ranges:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.ranges:1 +msgid "Distribution ranges for the velocity commands." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name:1::1 +msgid ":py:obj:`Ranges `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name:1::1 +msgid "Uniform distribution ranges for the velocity commands." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command:3 +msgid "If True, the angular velocity command is computed from the heading error, where the target heading is sampled uniformly from provided range. Otherwise, the angular velocity command is sampled uniformly from provided range." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg:1::1 +msgid ":py:obj:`Ranges `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg:1::1 +msgid "Normal distribution ranges for the velocity commands." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command:1::1 +msgid ":py:obj:`ranges `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:1::1 +msgid ":py:obj:`mean_vel `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:1 +msgid "Mean velocity for the normal distribution." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:1::1 +msgid ":py:obj:`std_vel `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.std_vel:1 +msgid "Standard deviation for the normal distribution." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:1::1 +msgid ":py:obj:`zero_prob `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.zero_prob:1 +msgid "Probability of zero velocity for the normal distribution." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:3 +msgid "The tuple contains the mean linear-x, linear-y, and angular-z velocity." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.std_vel:3 +msgid "The tuple contains the standard deviation linear-x, linear-y, and angular-z velocity." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.zero_prob:3 +msgid "The tuple contains the probability of zero linear-x, linear-y, and angular-z velocity." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +msgid ":py:obj:`asset_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +msgid ":py:obj:`body_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.body_name:1 +msgid "Name of the body in the asset for which the commands are generated." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +msgid ":py:obj:`make_quat_unique `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +msgid "Whether to make the quaternion unique or not." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +msgid ":py:obj:`ranges `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.ranges:1 +msgid "Ranges for the commands." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name:1::1 +msgid ":py:obj:`Ranges `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name:1::1 +msgid "Uniform distribution ranges for the pose commands." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.make_quat_unique:1 +msgid "Whether to make the quaternion unique or not. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.make_quat_unique:3 +msgid "If True, the quaternion is made unique by ensuring the real part is positive." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1::1 +msgid ":py:obj:`asset_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1::1 +msgid ":py:obj:`simple_heading `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.simple_heading:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.simple_heading:1 +msgid "Whether to use simple heading or not." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1::1 +msgid ":py:obj:`ranges `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.ranges:1 +msgid "Distribution ranges for the position commands." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range:1::1 +msgid ":py:obj:`Ranges `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range:1::1 +msgid "Uniform distribution ranges for the position commands." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.simple_heading:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.simple_heading:3 +msgid "If True, the heading is in the direction of the target position." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x:1::1 +msgid ":py:obj:`pos_x `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x:1 +msgid "Range for the x position (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x:1::1 +msgid ":py:obj:`pos_y `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_y:1 +msgid "Range for the y position (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x:1::1 +msgid ":py:obj:`heading `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading:1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.heading:1 +msgid "Heading range for the position commands (in rad)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading:3 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.heading:3 +msgid "Used only if :attr:`simple_heading` is False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg:1::1 +msgid ":py:obj:`Ranges `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.resampling_time_range:1::1 +msgid ":py:obj:`ranges `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.resampling_time_range:1::1 +#: ../../docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.ranges:1 +msgid "Distribution ranges for the sampled commands." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/commands/commands_cfg.py:docstring of omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading:1::1 +msgid ":py:obj:`heading `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:39 +msgid "Rewards" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1 +msgid "Common functions that can be used to enable reward functions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:3 +msgid "The functions can be passed to the :class:`omni.isaac.lab.managers.RewardTermCfg` object to include the reward introduced by the function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`is_alive `\\ \\(env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_alive:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Reward for being alive." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`is_terminated `\\ \\(env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_terminated:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize terminated episodes that don't correspond to episodic timeouts." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`lin_vel_z_l2 `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.lin_vel_z_l2:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize z-axis base linear velocity using L2-kernel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`ang_vel_xy_l2 `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.ang_vel_xy_l2:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize xy-axis base angular velocity using L2-kernel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`flat_orientation_l2 `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.flat_orientation_l2:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize non-flat base orientation using L2-kernel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`base_height_l2 `\\ \\(env\\, target\\_height\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.base_height_l2:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize asset height from its target using L2-kernel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`body_lin_acc_l2 `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.body_lin_acc_l2:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize the linear acceleration of bodies using L2-kernel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`joint_torques_l2 `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.joint_torques_l2:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize joint torques applied on the articulation using L2-kernel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`joint_vel_l1 `\\ \\(env\\, asset\\_cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.joint_vel_l1:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize joint velocities on the articulation using an L1-kernel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`joint_vel_l2 `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.joint_vel_l2:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize joint velocities on the articulation using L1-kernel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`joint_acc_l2 `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.joint_acc_l2:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize joint accelerations on the articulation using L2-kernel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`joint_deviation_l1 `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.joint_deviation_l1:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize joint positions that deviate from the default one." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`joint_pos_limits `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.joint_pos_limits:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize joint positions if they cross the soft limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`joint_vel_limits `\\ \\(env\\, soft\\_ratio\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.joint_vel_limits:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize joint velocities if they cross the soft limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`applied_torque_limits `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.applied_torque_limits:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize applied torques if they cross the limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`action_rate_l2 `\\ \\(env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.action_rate_l2:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize the rate of change of the actions using L2-kernel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`action_l2 `\\ \\(env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.action_l2:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize the actions using L2-kernel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`undesired_contacts `\\ \\(env\\, threshold\\, sensor\\_cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.undesired_contacts:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize undesired contacts as the number of violations that are above a threshold." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`contact_forces `\\ \\(env\\, threshold\\, sensor\\_cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.contact_forces:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize contact forces as the amount of violations of the net contact force." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`track_lin_vel_xy_exp `\\ \\(env\\, std\\, command\\_name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.track_lin_vel_xy_exp:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Reward tracking of linear velocity commands (xy axes) using exponential kernel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`track_ang_vel_z_exp `\\ \\(env\\, std\\, command\\_name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.track_ang_vel_z_exp:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Reward tracking of angular velocity commands (yaw) using exponential kernel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_alive:1::1 +msgid ":py:obj:`is_terminated_term `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_alive:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_terminated_term:1 +msgid "Penalize termination for specific terms that don't correspond to episodic timeouts." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_terminated_term:3 +msgid "The parameters are as follows:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_terminated_term:5 +msgid "attr:`term_keys`: The termination terms to penalize. This can be a string, a list of strings or regular expressions. Default is \".*\" which penalizes all terminations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_terminated_term:8 +msgid "The reward is computed as the sum of the termination terms that are not episodic timeouts. This means that the reward is 0 if the episode is terminated due to an episodic timeout. Otherwise, if two termination terms are active, the reward is 2." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_terminated_term:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__:1::1 +msgid "Initialize the manager term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py:docstring of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.joint_vel_limits:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__:3 +msgid "The configuration object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__:4 +msgid "The environment instance." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.flat_orientation_l2:3 +msgid "This is computed by penalizing the xy-components of the projected gravity vector." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.base_height_l2:3 +msgid "Currently, it assumes a flat terrain, i.e. the target height is in the world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.joint_torques_l2:3 +msgid "NOTE: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their joint torques contribute to the L2 norm." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.joint_vel_l2:3 +msgid "NOTE: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their joint velocities contribute to the L1 norm." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.joint_acc_l2:3 +msgid "NOTE: Only the joints configured in :attr:`asset_cfg.joint_ids` will have their joint accelerations contribute to the L2 norm." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.joint_pos_limits:3 +msgid "This is computed as a sum of the absolute value of the difference between the joint position and the soft limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.joint_vel_limits:3 +msgid "This is computed as a sum of the absolute value of the difference between the joint velocity and the soft limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.joint_vel_limits:5 +msgid "The ratio of the soft limits to be used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.applied_torque_limits:3 +msgid "This is computed as a sum of the absolute value of the difference between the applied torques and the limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/rewards.py:docstring of omni.isaac.lab.envs.mdp.rewards.applied_torque_limits:6 +msgid "Currently, this only works for explicit actuators since we manually compute the applied torques. For implicit actuators, we currently cannot retrieve the applied torques from the physics engine." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:45 +msgid "Terminations" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations:1 +msgid "Common functions that can be used to activate certain terminations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations:3 +msgid "The functions can be passed to the :class:`omni.isaac.lab.managers.TerminationTermCfg` object to enable the termination introduced by the function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid ":py:obj:`time_out `\\ \\(env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "Terminate the episode when the episode length exceeds the maximum episode length." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid ":py:obj:`command_resample `\\ \\(env\\, command\\_name\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.command_resample:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "Terminate the episode based on the total number of times commands have been re-sampled." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid ":py:obj:`bad_orientation `\\ \\(env\\, limit\\_angle\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.bad_orientation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "Terminate when the asset's orientation is too far from the desired orientation limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid ":py:obj:`root_height_below_minimum `\\ \\(env\\, minimum\\_height\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.root_height_below_minimum:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "Terminate when the asset's root height is below the minimum height." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid ":py:obj:`joint_pos_out_of_limit `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_limit:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "Terminate when the asset's joint positions are outside of the soft joint limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid ":py:obj:`joint_pos_out_of_manual_limit `\\ \\(env\\, bounds\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_manual_limit:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "Terminate when the asset's joint positions are outside of the configured bounds." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid ":py:obj:`joint_vel_out_of_limit `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_limit:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "Terminate when the asset's joint velocities are outside of the soft joint limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid ":py:obj:`joint_vel_out_of_manual_limit `\\ \\(env\\, max\\_velocity\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_manual_limit:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "Terminate when the asset's joint velocities are outside the provided limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid ":py:obj:`joint_effort_out_of_limit `\\ \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.joint_effort_out_of_limit:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "Terminate when effort applied on the asset's joints are outside of the soft joint limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid ":py:obj:`illegal_contact `\\ \\(env\\, threshold\\, sensor\\_cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.illegal_contact:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "Terminate when the contact force on the sensor exceeds the force threshold." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.command_resample:3 +msgid "This makes the maximum episode length fluid in nature as it depends on how the commands are sampled. It is useful in situations where delayed rewards are used :cite:`rudin2022advanced`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.bad_orientation:3 +msgid "This is computed by checking the angle between the projected gravity vector and the z-axis." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.root_height_below_minimum:3 +msgid "This is currently only supported for flat terrains, i.e. the minimum height is in the world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_manual_limit:3 +msgid "This function is similar to :func:`joint_pos_out_of_limit` but allows the user to specify the bounds manually." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/terminations.py:docstring of omni.isaac.lab.envs.mdp.terminations.joint_effort_out_of_limit:3 +msgid "In the actuators, the applied torque are the efforts applied on the joints. These are computed by clipping the computed torques to the joint limits. Hence, we check if the computed torques are equal to the applied torques." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:51 +msgid "Curriculum" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py:docstring of omni.isaac.lab.envs.mdp.curriculums:1 +msgid "Common functions that can be used to create curriculum for the learning environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py:docstring of omni.isaac.lab.envs.mdp.curriculums:3 +msgid "The functions can be passed to the :class:`omni.isaac.lab.managers.CurriculumTermCfg` object to enable the curriculum introduced by the function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py:docstring of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:1::1 +msgid ":py:obj:`modify_reward_weight `\\ \\(env\\, env\\_ids\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py:docstring of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py:docstring of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:1::1 +msgid "Curriculum that modifies a reward weight a given number of steps." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py:docstring of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:3 +msgid "The learning environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py:docstring of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:4 +msgid "Not used since all environments are affected." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py:docstring of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:5 +msgid "The name of the reward term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py:docstring of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:6 +msgid "The weight of the reward term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/curriculums.py:docstring of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:7 +msgid "The number of steps after which the change should be applied." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.envs.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.envs.pot new file mode 100644 index 0000000000..a1e90ebf29 --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.envs.pot @@ -0,0 +1,1344 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:2 +msgid "omni.isaac.lab.envs" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py:docstring of omni.isaac.lab.envs:1 +msgid "Sub-package for environment definitions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py:docstring of omni.isaac.lab.envs:3 +msgid "Environments define the interface between the agent and the simulation. In the simplest case, the environment provides the agent with the current observations and executes the actions provided by the agent. However, the environment can also provide additional information such as the current reward, done flag, and information about the current episode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py:docstring of omni.isaac.lab.envs:9 +msgid "There are two types of environment designing workflows:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py:docstring of omni.isaac.lab.envs:11 +msgid "**Manager-based**: The environment is decomposed into individual components (or managers) for different aspects (such as computing observations, applying actions, and applying randomization. The users mainly configure the managers and the environment coordinates the managers and calls their functions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py:docstring of omni.isaac.lab.envs:15 +msgid "**Direct**: The user implements all the necessary functionality directly into a single class directly without the need for additional managers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py:docstring of omni.isaac.lab.envs:18 +msgid "Based on these workflows, there are the following environment classes:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py:docstring of omni.isaac.lab.envs:20 +msgid ":class:`ManagerBasedEnv`: The manager-based workflow base environment which only provides the agent with the current observations and executes the actions provided by the agent." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py:docstring of omni.isaac.lab.envs:22 +msgid ":class:`ManagerBasedRLEnv`: The manager-based workflow RL task environment which besides the functionality of the base environment also provides additional Markov Decision Process (MDP) related information such as the current reward, done flag, and information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py:docstring of omni.isaac.lab.envs:25 +msgid ":class:`DirectRLEnv`: The direct workflow RL task environment which provides implementations for implementing scene setup, computing dones, performing resets, and computing reward and observation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py:docstring of omni.isaac.lab.envs:28 +msgid "For more information about the workflow design patterns, see the `Task Design Workflows`_ section." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:7 +msgid "Submodules" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:12::1 +msgid ":py:obj:`mdp `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:12::1 +msgid "Sub-module with implementation of manager terms." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:12::1 +msgid ":py:obj:`ui `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:12::1 +msgid "Sub-module providing UI window implementation for environments." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:14 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +msgid ":py:obj:`ManagerBasedEnv `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1 +msgid "The base environment encapsulates the simulation scene and the environment managers for the manager-based workflow." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +msgid ":py:obj:`ManagerBasedEnvCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1 +msgid "Base configuration of the environment." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +msgid ":py:obj:`ManagerBasedRLEnv `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1 +msgid "The superclass for the manager-based workflow reinforcement learning-based environments." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +msgid ":py:obj:`ManagerBasedRLEnvCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_rl_env_cfg.ManagerBasedRLEnvCfg:1 +msgid "Configuration for a reinforcement learning environment with the manager-based workflow." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +msgid ":py:obj:`DirectRLEnv `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1 +msgid "The superclass for the direct workflow to design environments." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +msgid ":py:obj:`DirectRLEnvCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1 +msgid "Configuration for an RL environment defined with the direct workflow." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +msgid ":py:obj:`ViewerCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.common.ViewerCfg:1 +msgid "Configuration of the scene viewport camera." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:26 +msgid "Manager Based Environment" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:3 +msgid "While a simulation scene or world comprises of different components such as the robots, objects, and sensors (cameras, lidars, etc.), the environment is a higher level abstraction that provides an interface for interacting with the simulation. The environment is comprised of the following components:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:8 +msgid "**Scene**: The scene manager that creates and manages the virtual world in which the robot operates. This includes defining the robot, static and dynamic objects, sensors, etc." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:10 +msgid "**Observation Manager**: The observation manager that generates observations from the current simulation state and the data gathered from the sensors. These observations may include privileged information that is not available to the robot in the real world. Additionally, user-defined terms can be added to process the observations and generate custom observations. For example, using a network to embed high-dimensional observations into a lower-dimensional space." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:15 +msgid "**Action Manager**: The action manager that processes the raw actions sent to the environment and converts them to low-level commands that are sent to the simulation. It can be configured to accept raw actions at different levels of abstraction. For example, in case of a robotic arm, the raw actions can be joint torques, joint positions, or end-effector poses. Similarly for a mobile base, it can be the joint torques, or the desired velocity of the floating base." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:20 +msgid "**Event Manager**: The event manager orchestrates operations triggered based on simulation events. This includes resetting the scene to a default state, applying random pushes to the robot at different intervals of time, or randomizing properties such as mass and friction coefficients. This is useful for training and evaluating the robot in a variety of scenarios." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:25 +msgid "The environment provides a unified interface for interacting with the simulation. However, it does not include task-specific quantities such as the reward function, or the termination conditions. These quantities are often specific to defining Markov Decision Processes (MDPs) while the base environment is agnostic to the MDP definition." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:30 +msgid "The environment steps forward in time at a fixed time-step. The physics simulation is decimated at a lower time-step. This is to ensure that the simulation is stable. These two time-steps can be configured independently using the :attr:`ManagerBasedEnvCfg.decimation` (number of simulation steps per environment step) and the :attr:`ManagerBasedEnvCfg.sim.dt` (physics time-step) parameters. Based on these parameters, the environment time-step is computed as the product of the two. The two time-steps can be obtained by querying the :attr:`physics_dt` and the :attr:`step_dt` properties respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.__init__:1 +msgid "Initialize the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid ":py:obj:`load_managers `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.load_managers:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.load_managers:1 +msgid "Load the managers for the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid ":py:obj:`reset `\\ \\(\\[seed\\, options\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:1 +msgid "Resets all the environments and returns observations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid ":py:obj:`step `\\ \\(action\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.step:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid "Execute one time-step of the environment's dynamics." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid ":py:obj:`seed `\\ \\(\\[seed\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.seed:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed:1 +msgid "Set the seed for the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid ":py:obj:`close `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.close:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.close:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.close:1 +msgid "Cleanup for the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.common.ViewerCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_rl_env_cfg.ManagerBasedRLEnvCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.num_envs:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.ManagerBasedEnv.num_envs:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.num_envs:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "The number of instances of the environment that are running." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +msgid ":py:obj:`physics_dt `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.physics_dt:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.ManagerBasedEnv.physics_dt:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.physics_dt:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "The physics time-step (in s)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +msgid ":py:obj:`step_dt `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.step_dt:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.ManagerBasedEnv.step_dt:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.step_dt:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "The environment stepping time-step (in s)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.ManagerBasedEnv.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "The device on which the environment is running." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.seed:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.step:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:3 +msgid "The configuration object for the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.__init__:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:5 +msgid "If a simulation context already exists. The environment must always create one since it configures the simulation context and controls the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.physics_dt:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.ManagerBasedEnv.physics_dt:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.physics_dt:3 +msgid "This is the lowest time-decimation at which the simulation is happening." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.step_dt:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.ManagerBasedEnv.step_dt:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.step_dt:3 +msgid "This is the time-step at which the environment steps forward." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.load_managers:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.load_managers:3 +msgid "This function is responsible for creating the various managers (action, observation, events, etc.) for the environment. Since the managers require access to physics handles, they can only be created after the simulator is reset (i.e. played for the first time)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.load_managers:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.load_managers:8 +msgid "In case of standalone application (when running simulator from Python), the function is called automatically when the class is initialized." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.load_managers:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.load_managers:11 +msgid "However, in case of extension mode, the user must call this function manually after the simulator is reset. This is because the simulator is only reset when the user calls :meth:`SimulationContext.reset_async` and it isn't possible to call async functions in the constructor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:3 +msgid "The seed to use for randomization. Defaults to None, in which case the seed is not set." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:4 +msgid "Additional information to specify how the environment is reset. Defaults to None. .. note:: This argument is used for compatibility with Gymnasium environment definition." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:4 +msgid "Additional information to specify how the environment is reset. Defaults to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:6 +msgid "This argument is used for compatibility with Gymnasium environment definition." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.np_random:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.unwrapped:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.seed:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.step:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.np_random:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.step:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:8 +msgid "A tuple containing the observations and extras." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.step:3 +msgid "The environment steps forward at a fixed time-step, while the physics simulation is decimated at a lower time-step. This is to ensure that the simulation is stable. These two time-steps can be configured independently using the :attr:`ManagerBasedEnvCfg.decimation` (number of simulation steps per environment step) and the :attr:`ManagerBasedEnvCfg.sim.dt` (physics time-step). Based on these parameters, the environment time-step is computed as the product of the two." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.step:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:13 +msgid "The actions to apply on the environment. Shape is (num_envs, action_dim)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.seed:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed:3 +msgid "The seed for random generator. Defaults to -1." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.seed:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed:5 +msgid "The seed used for random generator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid ":py:obj:`viewer `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid "Viewer configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid ":py:obj:`sim `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid "Physics simulation configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid ":py:obj:`decimation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.decimation:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.decimation:1 +msgid "Number of control action updates @ sim dt per policy dt." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid ":py:obj:`scene `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.scene:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.scene:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.scene:1 +msgid "Scene settings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid ":py:obj:`observations `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.observations:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.observations:1 +msgid "Observation space settings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid ":py:obj:`actions `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.actions:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.actions:1 +msgid "Action space settings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid ":py:obj:`events `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid "Event settings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid ":py:obj:`randomization `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid "Randomization settings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_rl_env_cfg.ManagerBasedRLEnvCfg:1 +msgid "**Classes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.viewer:1::1 +msgid ":py:obj:`ui_window_class_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.DirectRLEnvCfg.viewer:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env_cfg.py:docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.viewer:1::1 +msgid "alias of :py:class:`~omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow`" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.viewer:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.viewer:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.viewer:1 +msgid "Viewer configuration. Default is ViewerCfg()." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.sim:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.sim:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.sim:1 +msgid "Physics simulation configuration. Default is SimulationCfg()." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.decimation:3 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation:3 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.decimation:3 +msgid "For instance, if the simulation dt is 0.01s and the policy dt is 0.1s, then the decimation is 10. This means that the control action is updated every 10 simulation steps." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.scene:3 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.scene:3 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.scene:3 +msgid "Please refer to the :class:`omni.isaac.lab.scene.InteractiveSceneCfg` class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.observations:3 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.observations:3 +msgid "Please refer to the :class:`omni.isaac.lab.managers.ObservationManager` class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.actions:3 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.actions:3 +msgid "Please refer to the :class:`omni.isaac.lab.managers.ActionManager` class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.events:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.events:1 +msgid "Event settings. Defaults to the basic configuration that resets the scene to its default state." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.events:3 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.events:3 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.events:3 +msgid "Please refer to the :class:`omni.isaac.lab.managers.EventManager` class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.randomization:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.randomization:1 +msgid "Randomization settings. Default is None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.randomization:3 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.randomization:3 +msgid "This attribute is deprecated and will be removed in v0.4.0. Please use the :attr:`events` attribute to configure the randomization settings." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:36 +msgid "Manager Based RL Environment" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1 +msgid "Bases: :py:class:`~omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv`, :py:class:`~gymnasium.core.Env`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:3 +msgid "This class inherits from :class:`ManagerBasedEnv` and implements the core functionality for reinforcement learning-based environments. It is designed to be used with any RL library. The class is designed to be used with vectorized environments, i.e., the environment is expected to be run in parallel with multiple sub-environments. The number of sub-environments is specified using the ``num_envs``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:9 +msgid "Each observation from the environment is a batch of observations for each sub- environments. The method :meth:`step` is also expected to receive a batch of actions for each sub-environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:13 +msgid "While the environment itself is implemented as a vectorized environment, we do not inherit from :class:`gym.vector.VectorEnv`. This is mainly because the class adds various methods (for wait and asynchronous updates) which are not required. Additionally, each RL library typically has its own definition for a vectorized environment. Thus, to reduce complexity, we directly use the :class:`gym.Env` over here and leave it up to library-defined wrappers to take care of wrapping this environment for their agents." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:23 +msgid "For vectorized environments, it is recommended to **only** call the :meth:`reset` method once before the first call to :meth:`step`, i.e. after the environment is created. After that, the :meth:`step` function handles the reset of terminated sub-environments. This is because the simulator does not support resetting individual sub-environments in a vectorized environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`is_vector_env `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1 +msgid "Whether the environment is a vectorized environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`metadata `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnv.metadata:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.metadata:1 +msgid "Metadata for the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.cfg:1 +msgid "Configuration for the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`max_episode_length_s `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.max_episode_length_s:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length_s:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "Maximum episode length in seconds." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`max_episode_length `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "Maximum episode length in environment steps." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`np_random `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.np_random:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.np_random:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "Returns the environment's internal :attr:`_np_random` that if not set will initialise with a random seed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`physics_dt `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`step_dt `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`unwrapped `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.unwrapped:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "Returns the base non-wrapped environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\[\\, render\\_mode\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid ":py:obj:`load_managers `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid ":py:obj:`step `\\ \\(action\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:1 +msgid "Execute one time-step of the environment's dynamics and reset terminated environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid ":py:obj:`render `\\ \\(\\[recompute\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:1 +msgid "Run rendering without stepping through the physics." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid ":py:obj:`close `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid ":py:obj:`get_wrapper_attr `\\ \\(name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of gymnasium.core.Env.get_wrapper_attr:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of gymnasium.core.Env.get_wrapper_attr:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid "Gets the attribute `name` from the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid ":py:obj:`reset `\\ \\(\\[seed\\, options\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid ":py:obj:`seed `\\ \\(\\[seed\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.__init__:3 +msgid "The configuration for the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.__init__:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.__init__:4 +msgid "The render mode for the environment. Defaults to None, which is similar to ``\"human\"``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:3 +msgid "Unlike the :class:`ManagerBasedEnv.step` class, the function performs the following operations:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:5 +msgid "Process the actions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:6 +msgid "Perform physics stepping." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:7 +msgid "Perform rendering if gui is enabled." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:8 +msgid "Update the environment counters and compute the rewards and terminations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:9 +msgid "Reset the environments that terminated." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:10 +msgid "Compute the observations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:11 +msgid "Return the observations, rewards, resets and extras." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:15 +msgid "A tuple containing the observations, rewards, resets (terminated and truncated) and extras." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:3 +msgid "By convention, if mode is:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:5 +msgid "**human**: Render to the current display and return nothing. Usually for human consumption." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:6 +msgid "**rgb_array**: Return an numpy.ndarray with shape (x, y, 3), representing RGB values for an x-by-y pixel image, suitable for turning into a video." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:9 +msgid "Whether to force a render even if the simulator has already rendered the scene. Defaults to False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:12 +msgid "The rendered image as a numpy array if mode is \"rgb_array\". Otherwise, returns None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:14 +msgid "If mode is set to \"rgb_data\" and simulation render mode does not support it. In this case, the simulation render mode must be set to ``RenderMode.PARTIAL_RENDERING`` or ``RenderMode.FULL_RENDERING``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:15 +msgid "If an unsupported rendering mode is specified." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.np_random:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.np_random:3 +msgid "Instances of `np.random.Generator`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.unwrapped:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped:3 +msgid "The base non-wrapped :class:`gymnasium.Env` instance" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.unwrapped:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py:docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped:0 +msgid "Return type" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_rl_env_cfg.ManagerBasedRLEnvCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_rl_env_cfg.ManagerBasedRLEnvCfg:1::1 +msgid ":py:obj:`ui_window_class_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env_cfg.py:docstring of omni.isaac.lab.envs.manager_based_rl_env_cfg.ManagerBasedRLEnvCfg:1::1 +msgid "alias of :py:class:`~omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid ":py:obj:`is_finite_horizon `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid "Whether the learning task is treated as a finite or infinite horizon problem for the agent." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid ":py:obj:`episode_length_s `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.episode_length_s:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.episode_length_s:1 +msgid "Duration of an episode (in seconds)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid ":py:obj:`rewards `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rewards:1 +msgid "Reward settings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid ":py:obj:`terminations `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.terminations:1 +msgid "Termination settings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid ":py:obj:`curriculum `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.curriculum:1 +msgid "Curriculum settings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid ":py:obj:`commands `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands:1 +msgid "Command settings." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon:1 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon:1 +msgid "Whether the learning task is treated as a finite or infinite horizon problem for the agent. Defaults to False, which means the task is treated as an infinite horizon problem." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon:4 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon:4 +msgid "This flag handles the subtleties of finite and infinite horizon tasks:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon:6 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon:6 +msgid "**Finite horizon**: no penalty or bootstrapping value is required by the the agent for running out of time. However, the environment still needs to terminate the episode after the time limit is reached." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon:9 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon:9 +msgid "**Infinite horizon**: the agent needs to bootstrap the value of the state at the end of the episode. This is done by sending a time-limit (or truncated) done signal to the agent, which triggers this bootstrapping calculation." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon:13 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon:13 +msgid "If True, then the environment is treated as a finite horizon problem and no time-out (or truncated) done signal is sent to the agent. If False, then the environment is treated as an infinite horizon problem and a time-out (or truncated) done signal is sent to the agent." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon:19 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon:19 +msgid "The base :class:`ManagerBasedRLEnv` class does not use this flag directly. It is used by the environment wrappers to determine what type of done signal to send to the corresponding learning agent." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.episode_length_s:3 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.episode_length_s:3 +msgid "Based on the decimation rate and physics time step, the episode length is calculated as:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.episode_length_s:9 +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.episode_length_s:9 +msgid "For example, if the decimation rate is 10, the physics time step is 0.01, and the episode length is 10 seconds, then the episode length in steps is 100." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rewards:3 +msgid "Please refer to the :class:`omni.isaac.lab.managers.RewardManager` class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.terminations:3 +msgid "Please refer to the :class:`omni.isaac.lab.managers.TerminationManager` class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.curriculum:3 +msgid "Please refer to the :class:`omni.isaac.lab.managers.CurriculumManager` class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands:3 +msgid "Please refer to the :class:`omni.isaac.lab.managers.CommandManager` class for more details." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:50 +msgid "Direct RL Environment" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1 +msgid "Bases: :py:class:`~gymnasium.core.Env`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:3 +msgid "This class implements the core functionality for reinforcement learning (RL) environments. It is designed to be used with any RL library. The class is designed to be used with vectorized environments, i.e., the environment is expected to be run in parallel with multiple sub-environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`is_vector_env `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`metadata `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`physics_dt `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`step_dt `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`max_episode_length_s `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`max_episode_length `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.max_episode_length:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid "The maximum episode length in steps adjusted from s." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`np_random `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`unwrapped `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\[\\, render\\_mode\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid ":py:obj:`reset `\\ \\(\\[seed\\, options\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid ":py:obj:`step `\\ \\(action\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid ":py:obj:`seed `\\ \\(\\[seed\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid ":py:obj:`render `\\ \\(\\[recompute\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid ":py:obj:`close `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.set_debug_vis:1 +msgid "Toggles the environment debug visualization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid ":py:obj:`get_wrapper_attr `\\ \\(name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:3 +msgid "The environment steps forward at a fixed time-step, while the physics simulation is decimated at a lower time-step. This is to ensure that the simulation is stable. These two time-steps can be configured independently using the :attr:`DirectRLEnvCfg.decimation` (number of simulation steps per environment step) and the :attr:`DirectRLEnvCfg.sim.physics_dt` (physics time-step). Based on these parameters, the environment time-step is computed as the product of the two." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:9 +msgid "This function performs the following steps:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:11 +msgid "Pre-process the actions before stepping through the physics." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:12 +msgid "Apply the actions to the simulator and step through the physics in a decimated manner." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:13 +msgid "Compute the reward and done signals." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:14 +msgid "Reset environments that have terminated or reached the maximum episode length." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:15 +msgid "Apply interval events if they are enabled." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:16 +msgid "Compute observations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.set_debug_vis:3 +msgid "Whether to visualize the environment debug visualization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py:docstring of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.set_debug_vis:5 +msgid "Whether the debug visualization was successfully set. False if the environment does not support debug visualization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:3 +msgid "Please refer to the :class:`omni.isaac.lab.envs.direct_rl_env.DirectRLEnv` class for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`viewer `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`sim `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`decimation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`is_finite_horizon `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`episode_length_s `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`scene `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`events `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`num_observations `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.num_observations:1 +msgid "The dimension of the observation space from each environment instance." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`num_states `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid "The dimension of the state-space from each environment instance." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`observation_noise_model `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid "The noise model to apply to the computed observations from the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`num_actions `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.num_actions:1 +msgid "The dimension of the action space for each environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`action_noise_model `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid "The noise model applied to the actions provided to the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env_cfg.py:docstring of omni.isaac.lab.envs.DirectRLEnvCfg.viewer:1::1 +msgid ":py:obj:`ui_window_class_type `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.events:1 +msgid "Event settings. Defaults to None, in which case no events are applied through the event manager." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.num_states:1 +msgid "The dimension of the state-space from each environment instance. Default is 0, which means no state-space is defined." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.num_states:3 +msgid "This is useful for asymmetric actor-critic and defines the observation space for the critic." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.observation_noise_model:1 +msgid "The noise model to apply to the computed observations from the environment. Default is None, which means no noise is added." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.action_noise_model:3 +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.observation_noise_model:3 +msgid "Please refer to the :class:`omni.isaac.lab.utils.noise.NoiseModel` class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.action_noise_model:1 +msgid "The noise model applied to the actions provided to the environment. Default is None, which means no noise is added." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:64 +msgid "Common" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid ":py:obj:`eye `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid "Initial camera position (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid ":py:obj:`lookat `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid "Initial camera target position (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid ":py:obj:`cam_prim_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid "The camera prim path to record images from." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid ":py:obj:`resolution `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid "The resolution (width, height) of the camera specified using :attr:`cam_prim_path`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid ":py:obj:`origin_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid "The frame in which the camera position (eye) and target (lookat) are defined in." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid ":py:obj:`env_index `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid "The environment index for frame origin." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid ":py:obj:`asset_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/common.py:docstring of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid "The asset name in the interactive scene for the frame origin." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.eye:1 +msgid "Initial camera position (in m). Default is (7.5, 7.5, 7.5)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.lookat:1 +msgid "Initial camera target position (in m). Default is (0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.cam_prim_path:1 +msgid "The camera prim path to record images from. Default is \"/OmniverseKit_Persp\", which is the default camera in the viewport." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.resolution:1 +msgid "The resolution (width, height) of the camera specified using :attr:`cam_prim_path`. Default is (1280, 720)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.origin_type:1 +msgid "The frame in which the camera position (eye) and target (lookat) are defined in. Default is \"world\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.origin_type:3 +msgid "Available options are:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.origin_type:5 +msgid "``\"world\"``: The origin of the world." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.origin_type:6 +msgid "``\"env\"``: The origin of the environment defined by :attr:`env_index`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.origin_type:7 +msgid "``\"asset_root\"``: The center of the asset defined by :attr:`asset_name` in environment :attr:`env_index`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.env_index:1 +msgid "The environment index for frame origin. Default is 0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.env_index:3 +msgid "This quantity is only effective if :attr:`origin` is set to \"env\" or \"asset_root\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.asset_name:1 +msgid "The asset name in the interactive scene for the frame origin. Default is None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.asset_name:3 +msgid "This quantity is only effective if :attr:`origin` is set to \"asset_root\"." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.envs.ui.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.envs.ui.pot new file mode 100644 index 0000000000..7eaf3e2c8f --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.envs.ui.pot @@ -0,0 +1,269 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:2 +msgid "omni.isaac.lab.envs.ui" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/__init__.py:docstring of omni.isaac.lab.envs.ui:1 +msgid "Sub-module providing UI window implementation for environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/__init__.py:docstring of omni.isaac.lab.envs.ui:3 +msgid "The UI elements are used to control the environment and visualize the state of the environment. This includes functionalities such as tracking a robot in the simulation, toggling different debug visualization tools, and other user-defined functionalities." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:12::1 +msgid ":py:obj:`BaseEnvWindow `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:12::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py:docstring of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow:1 +msgid "Window manager for the basic environment." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:12::1 +msgid ":py:obj:`ManagerBasedRLEnvWindow `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:12::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1 +msgid "Window manager for the RL environment." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:12::1 +msgid ":py:obj:`ViewportCameraController `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:12::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1 +msgid "This class handles controlling the camera associated with a viewport in the simulator." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:15 +msgid "Base Environment UI" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py:docstring of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow:3 +msgid "This class creates a window that is used to control the environment. The window contains controls for rendering, debug visualization, and other environment-specific UI elements." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py:docstring of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow:7 +msgid "Users can add their own UI elements to the window by using the `with` context manager. This can be done either be inheriting the class or by using the `env.window` object directly from the standalone execution script." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py:docstring of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow:14 +msgid "Example for adding a UI element from the standalone execution script:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py:docstring of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py:docstring of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow.__init__:1::1 +msgid ":py:obj:`__init__ `\\ \\(env\\[\\, window\\_name\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py:docstring of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py:docstring of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow.__init__:1::1 +msgid "Initialize the window." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py:docstring of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.set_view_env_index:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_location:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_to_asset_root:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py:docstring of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow.__init__:3 +msgid "The environment object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/base_env_window.py:docstring of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow.__init__:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow.__init__:4 +msgid "The name of the window. Defaults to \"IsaacLab\"." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:21 +msgid "Config Based RL Environment UI" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1 +msgid "Bases: :py:class:`~omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:3 +msgid "On top of the basic environment window, this class adds controls for the RL environment. This includes visualization of the command manager." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/manager_based_rl_env_window.py:docstring of omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow.__init__:1::1 +msgid ":py:obj:`__init__ `\\ \\(env\\[\\, window\\_name\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:28 +msgid "Viewport Camera Controller" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:3 +msgid "It can be used to set the viewpoint camera to track different origin types:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:5 +msgid "**world**: the center of the world (static)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:6 +msgid "**env**: the center of an environment (static)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:7 +msgid "**asset_root**: the root of an asset in the scene (e.g. tracking a robot moving in the scene)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:9 +msgid "On creation, the camera is set to track the origin type specified in the configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:11 +msgid "For the :attr:`asset_root` origin type, the camera is updated at each rendering step to track the asset's root position. For this, it registers a callback to the post update event stream from the simulation app." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid ":py:obj:`__init__ `\\ \\(env\\, cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "Initialize the ViewportCameraController." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid ":py:obj:`set_view_env_index `\\ \\(env\\_index\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.set_view_env_index:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "Sets the environment index for the camera view." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid ":py:obj:`update_view_to_world `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_to_world:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "Updates the viewer's origin to the origin of the world which is (0, 0, 0)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid ":py:obj:`update_view_to_env `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_to_env:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "Updates the viewer's origin to the origin of the selected environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid ":py:obj:`update_view_to_asset_root `\\ \\(asset\\_name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_to_asset_root:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "Updates the viewer's origin based upon the root of an asset in the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid ":py:obj:`update_view_location `\\ \\(\\[eye\\, lookat\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_location:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "Updates the camera view pose based on the current viewer origin and the eye and lookat positions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.ViewportCameraController.cfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:1::1 +msgid "The configuration for the viewer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:3 +msgid "The environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:4 +msgid "The configuration for the viewport camera controller." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.set_view_env_index:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_to_asset_root:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:6 +msgid "If origin type is configured to be \"env\" but :attr:`cfg.env_index` is out of bounds." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:7 +msgid "If origin type is configured to be \"asset_root\" but :attr:`cfg.asset_name` is unset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.set_view_env_index:3 +msgid "The index of the environment to set the camera view to." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.set_view_env_index:5 +msgid "If the environment index is out of bounds. It should be between 0 and num_envs - 1." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_to_asset_root:3 +msgid "The name of the asset in the scene. The name should match the name of the asset in the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_to_asset_root:6 +msgid "If the asset is not in the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_location:3 +msgid "The eye position of the camera. If None, the current eye position is used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/envs/ui/viewport_camera_controller.py:docstring of omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_location:4 +msgid "The lookat position of the camera. If None, the current lookat position is used." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.managers.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.managers.pot new file mode 100644 index 0000000000..630d1edbce --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.managers.pot @@ -0,0 +1,2308 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:2 +msgid "omni.isaac.lab.managers" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/__init__.py:docstring of omni.isaac.lab.managers:1 +msgid "Sub-module for environment managers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/__init__.py:docstring of omni.isaac.lab.managers:3 +msgid "The managers are used to handle various aspects of the environment such as randomization events, curriculum, and observations. Each manager implements a specific functionality for the environment. The managers are designed to be modular and can be easily extended to support new functionality." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`SceneEntityCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1 +msgid "Configuration for a scene entity that is used by the manager's term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`ManagerBase `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase:1 +msgid "Base class for all managers." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`ManagerTermBase `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase:1 +msgid "Base class for manager terms." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`ManagerTermBaseCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.ManagerTermBaseCfg:1 +msgid "Configuration for a manager term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`ObservationManager `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:1 +msgid "Manager for computing observation signals for a given world." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`ObservationGroupCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.ObservationGroupCfg:1 +msgid "Configuration for an observation group." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`ObservationTermCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.ObservationTermCfg:1 +msgid "Configuration for an observation term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`ActionManager `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1 +msgid "Manager for processing and applying actions for a given world." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`ActionTerm `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:1 +msgid "Base class for action terms." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`ActionTermCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.ActionTermCfg:1 +msgid "Configuration for an action term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`EventManager `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1 +msgid "Manager for orchestrating operations based on different simulation events." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`EventTermCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.EventTermCfg:1 +msgid "Configuration for a event term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`CommandManager `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1 +msgid "Manager for generating commands." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`CommandTerm `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm:1 +msgid "The base class for implementing a command term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`CommandTermCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.CommandTermCfg:1 +msgid "Configuration for a command generator term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`RewardManager `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1 +msgid "Manager for computing reward signals for a given world." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`RewardTermCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.RewardTermCfg:1 +msgid "Configuration for a reward term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`TerminationManager `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1 +msgid "Manager for computing done signals for a given world." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`TerminationTermCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.TerminationTermCfg:1 +msgid "Configuration for a termination term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`CurriculumManager `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1 +msgid "Manager to implement and execute specific curricula." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`CurriculumTermCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.CurriculumTermCfg:1 +msgid "Configuration for a curriculum term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:33 +msgid "Scene Entity" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:3 +msgid "This class is used to specify the name of the scene entity that is queried from the :class:`InteractiveScene` and passed to the manager's term function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.ActionTermCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.CommandTermCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.CurriculumTermCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.EventTermCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.ManagerTermBaseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.ObservationGroupCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.ObservationTermCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.TerminationTermCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid ":py:obj:`name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ActionTermCfg.class_type:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +#: ../../docstring of omni.isaac.lab.managers.ActionTermCfg.asset_name:1 +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.name:1 +msgid "The name of the scene entity." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "The names of the joints from the scene entity." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid ":py:obj:`joint_ids `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "The indices of the joints from the asset required by the term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid ":py:obj:`fixed_tendon_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "The names of the fixed tendons from the scene entity." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid ":py:obj:`fixed_tendon_ids `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "The indices of the fixed tendons from the asset required by the term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid ":py:obj:`body_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "The names of the bodies from the asset required by the term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid ":py:obj:`body_ids `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "The indices of the bodies from the asset required by the term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid ":py:obj:`preserve_order `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "Whether to preserve indices ordering to match with that in the specified joint or body names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.RewardTermCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.SceneEntityCfg.name:1::1 +msgid ":py:obj:`resolve `\\ \\(scene\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.SceneEntityCfg.name:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:1 +msgid "Resolves the scene entity and converts the joint and body names to indices." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ActionTermCfg.asset_name:3 +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.name:3 +msgid "This is the name defined in the scene configuration file. See the :class:`InteractiveSceneCfg` class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.joint_names:1 +msgid "The names of the joints from the scene entity. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names:3 +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.joint_names:3 +msgid "The names can be either joint names or a regular expression matching the joint names." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.joint_names:5 +msgid "These are converted to joint indices on initialization of the manager and passed to the term function as a list of joint indices under :attr:`joint_ids`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.joint_ids:1 +msgid "The indices of the joints from the asset required by the term. Defaults to slice(None), which means all the joints in the asset (if present)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.joint_ids:4 +msgid "If :attr:`joint_names` is specified, this is filled in automatically on initialization of the manager." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names:1 +msgid "The names of the fixed tendons from the scene entity. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names:5 +msgid "These are converted to fixed tendon indices on initialization of the manager and passed to the term function as a list of fixed tendon indices under :attr:`fixed_tendon_ids`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_ids:1 +msgid "The indices of the fixed tendons from the asset required by the term. Defaults to slice(None), which means all the fixed tendons in the asset (if present)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_ids:4 +msgid "If :attr:`fixed_tendon_names` is specified, this is filled in automatically on initialization of the manager." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.body_names:1 +msgid "The names of the bodies from the asset required by the term. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.body_names:3 +msgid "The names can be either body names or a regular expression matching the body names." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.body_names:5 +msgid "These are converted to body indices on initialization of the manager and passed to the term function as a list of body indices under :attr:`body_ids`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.body_ids:1 +msgid "The indices of the bodies from the asset required by the term. Defaults to slice(None), which means all the bodies in the asset." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.body_ids:4 +msgid "If :attr:`body_names` is specified, this is filled in automatically on initialization of the manager." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.preserve_order:1 +msgid "Whether to preserve indices ordering to match with that in the specified joint or body names. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.preserve_order:3 +msgid "If False, the ordering of the indices are sorted in ascending order (i.e. the ordering in the entity's joints or bodies). Otherwise, the indices are preserved in the order of the specified joint and body names." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.preserve_order:6 +msgid "For more details, see the :meth:`omni.isaac.lab.utils.string.resolve_matching_names` function." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.preserve_order:9 +msgid "This attribute is only used when :attr:`joint_names` or :attr:`body_names` are specified." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:3 +msgid "This function examines the scene entity from the :class:`InteractiveScene` and resolves the indices and names of the joints and bodies. It is an expensive operation as it resolves regular expressions and should be called only once." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.get_term:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.process_action:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.process_actions:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.get_command:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.get_term:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.apply:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.set_term_cfg:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.get_term_cfg:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.set_term_cfg:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term_cfg:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.set_term_cfg:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:7 +msgid "The interactive scene instance." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.apply:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.set_term_cfg:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.get_term_cfg:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.set_term_cfg:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term_cfg:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.set_term_cfg:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:9 +msgid "If the scene entity is not found." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:10 +msgid "If both ``joint_names`` and ``joint_ids`` are specified and are not consistent." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:11 +msgid "If both ``fixed_tendon_names`` and ``fixed_tendon_ids`` are specified and are not consistent." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/scene_entity_cfg.py:docstring of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:12 +msgid "If both ``body_names`` and ``body_ids`` are specified and are not consistent." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:40 +msgid "Manager Base" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase:1::1 +msgid "Initialize the manager." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid "Resets the manager and returns logging information for the current time-step." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase:1::1 +msgid ":py:obj:`find_terms `\\ \\(name\\_keys\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "Find terms in the manager based on the names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.ActionManager.num_envs:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.ActionTerm.num_envs:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.CurriculumManager.num_envs:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.EventManager.num_envs:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.RandomizationManager.num_envs:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.ManagerBase.num_envs:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.ManagerTermBase.num_envs:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.ObservationManager.num_envs:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.RewardManager.num_envs:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.TerminationManager.num_envs:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "Number of environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.ActionManager.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.ActionTerm.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.CurriculumManager.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.EventManager.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.RandomizationManager.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.ManagerBase.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.ManagerTermBase.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.ObservationManager.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.RewardManager.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.TerminationManager.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "Device on which to perform computations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.__init__:1::1 +msgid ":py:obj:`active_terms `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.ManagerBase.active_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.__init__:1::1 +msgid "Name of active terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:3 +msgid "The configuration object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.__init__:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.__init__:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.__init__:4 +msgid "The environment instance." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.reset:3 +msgid "The environment ids for which to log data. Defaults None, which logs data for all environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.get_term:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.get_command:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.get_term:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.get_term_cfg:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term_cfg:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.reset:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.reset:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.reset:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.reset:6 +msgid "Dictionary containing the logging information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:3 +msgid "This function searches the manager for terms based on the names. The names can be specified as regular expressions or a list of regular expressions. The search is performed on the active terms in the manager." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:7 +msgid "Please check the :meth:`omni.isaac.lab.utils.string_utils.resolve_matching_names` function for more information on the name matching." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:10 +msgid "A regular expression or a list of regular expressions to match the term names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:12 +msgid "A list of term names that match the input keys." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase:3 +msgid "Manager term implementations can be functions or classes. If the term is a class, it should inherit from this base class and implement the required methods." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase:6 +msgid "Each manager is implemented as a class that inherits from the :class:`ManagerBase` class. Each manager class should also have a corresponding configuration class that defines the configuration terms for the manager. Each term should the :class:`ManagerTermBaseCfg` class or its subclass." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase:10 +msgid "Example pseudo-code for creating a manager:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase:1::1 +msgid "Initialize the manager term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase:1::1 +msgid "Resets the manager term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py:docstring of omni.isaac.lab.managers.manager_base.ManagerTermBase.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.reset:3 +msgid "The environment ids. Defaults to None, in which case all environments are considered." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ManagerTermBaseCfg.func:1::1 +msgid ":py:obj:`func `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ManagerTermBaseCfg.func:1::1 +#: ../../docstring of omni.isaac.lab.managers.ManagerTermBaseCfg.func:1 +msgid "The function or class to be called for the term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ManagerTermBaseCfg.func:1::1 +msgid ":py:obj:`params `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ManagerTermBaseCfg.func:1::1 +msgid "The parameters to be passed to the function as keyword arguments." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ManagerTermBaseCfg.func:3 +msgid "The function must take the environment object as the first argument. The remaining arguments are specified in the :attr:`params` attribute." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ManagerTermBaseCfg.func:6 +msgid "It also supports `callable classes`_, i.e. classes that implement the :meth:`__call__` method. In this case, the class should inherit from the :class:`ManagerTermBase` class and implement the required methods." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.CurriculumTermCfg.params:1 +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.params:1 +#: ../../docstring of omni.isaac.lab.managers.ManagerTermBaseCfg.params:1 +#: ../../docstring of omni.isaac.lab.managers.ObservationTermCfg.params:1 +#: ../../docstring of omni.isaac.lab.managers.RandomizationTermCfg.params:1 +#: ../../docstring of omni.isaac.lab.managers.TerminationTermCfg.params:1 +msgid "The parameters to be passed to the function as keyword arguments. Defaults to an empty dict." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.CurriculumTermCfg.params:4 +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.params:4 +#: ../../docstring of omni.isaac.lab.managers.ManagerTermBaseCfg.params:4 +#: ../../docstring of omni.isaac.lab.managers.ObservationTermCfg.params:4 +#: ../../docstring of omni.isaac.lab.managers.RandomizationTermCfg.params:4 +#: ../../docstring of omni.isaac.lab.managers.TerminationTermCfg.params:4 +msgid "If the value is a :class:`SceneEntityCfg` object, the manager will query the scene entity from the :class:`InteractiveScene` and process the entity's joints and bodies as specified in the :class:`SceneEntityCfg` object." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:53 +msgid "Observation Manager" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1 +msgid "Bases: :py:class:`~omni.isaac.lab.managers.manager_base.ManagerBase`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:3 +msgid "Observations are organized into groups based on their intended usage. This allows having different observation groups for different types of learning such as asymmetric actor-critic and student-teacher training. Each group contains observation terms which contain information about the observation function to call, the noise corruption model to use, and the sensor to retrieve data from." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:8 +msgid "Each observation group should inherit from the :class:`ObservationGroupCfg` class. Within each group, each observation term should instantiate the :class:`ObservationTermCfg` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid "Initialize observation manager." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid ":py:obj:`compute `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.compute:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid "Compute the observations per group for all groups." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid ":py:obj:`compute_group `\\ \\(group\\_name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid "Computes the observations for a given group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid ":py:obj:`find_terms `\\ \\(name\\_keys\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid ":py:obj:`active_terms `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.ObservationManager.active_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid "Name of active observation terms in each group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid ":py:obj:`group_obs_dim `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.ObservationManager.group_obs_dim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid "Shape of observation tensor in each group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid ":py:obj:`group_obs_term_dim `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.ObservationManager.group_obs_term_dim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid "Shape of observation tensor for each term in each group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid ":py:obj:`group_obs_concatenate `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.ObservationManager.group_obs_concatenate:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid "Whether the observation terms are concatenated in each group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:3 +msgid "The configuration object or dictionary (``dict[str, ObservationGroupCfg]``)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.compute:3 +msgid "The method computes the observations for all the groups handled by the observation manager. Please check the :meth:`compute_group` on the processing of observations per group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.compute:6 +msgid "A dictionary with keys as the group names and values as the computed observations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:3 +msgid "The observations for a given group are computed by calling the registered functions for each term in the group. The functions are called in the order of the terms in the group. The functions are expected to return a tensor with shape (num_envs, ...)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:7 +msgid "If a corruption/noise model is registered for a term, the function is called to corrupt the observation. The corruption function is expected to return a tensor with the same shape as the observation. The observations are clipped and scaled as per the configuration settings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:12 +msgid "The operations are performed in the order: compute, add corruption/noise, clip, scale. By default, no scaling or clipping is applied." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:15 +msgid "The name of the group for which to compute the observations. Defaults to None, in which case observations for all the groups are computed and returned." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:18 +msgid "Depending on the group's configuration, the tensors for individual observation terms are concatenated along the last dimension into a single tensor. Otherwise, they are returned as a dictionary with keys corresponding to the term's name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/observation_manager.py:docstring of omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:22 +msgid "If input ``group_name`` is not a valid group handled by the manager." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms:1::1 +msgid ":py:obj:`concatenate_terms `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms:1::1 +msgid "Whether to concatenate the observation terms in the group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms:1::1 +msgid ":py:obj:`enable_corruption `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms:1::1 +msgid "Whether to enable corruption for the observation group." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms:1 +msgid "Whether to concatenate the observation terms in the group. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms:3 +msgid "If true, the observation terms in the group are concatenated along the last dimension. Otherwise, they are kept separate and returned as a dictionary." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ObservationGroupCfg.enable_corruption:1 +msgid "Whether to enable corruption for the observation group. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ObservationGroupCfg.enable_corruption:3 +msgid "If true, the observation terms in the group are corrupted by adding noise (if specified). Otherwise, no corruption is applied." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +msgid ":py:obj:`func `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.CurriculumTermCfg.func:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.EventTermCfg.params:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.TerminationTermCfg.params:1::1 +#: ../../docstring of omni.isaac.lab.managers.CurriculumTermCfg.func:1 +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.func:1 +#: ../../docstring of omni.isaac.lab.managers.ObservationTermCfg.func:1 +#: ../../docstring of omni.isaac.lab.managers.RandomizationTermCfg.func:1 +#: ../../docstring of omni.isaac.lab.managers.TerminationTermCfg.func:1 +msgid "The name of the function to be called." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +msgid ":py:obj:`noise `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +msgid "The noise to add to the observation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +msgid ":py:obj:`clip `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +msgid "The clipping range for the observation after adding noise." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +msgid ":py:obj:`scale `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +msgid "The scale to apply to the observation after clipping." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ObservationTermCfg.func:3 +msgid "This function should take the environment object and any other parameters as input and return the observation signal as torch float tensors of shape (num_envs, obs_term_dim)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ObservationTermCfg.noise:1 +msgid "The noise to add to the observation. Defaults to None, in which case no noise is added." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ObservationTermCfg.clip:1 +msgid "The clipping range for the observation after adding noise. Defaults to None, in which case no clipping is applied." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ObservationTermCfg.scale:1 +msgid "The scale to apply to the observation after clipping. Defaults to None, in which case no scaling is applied (same as setting scale to :obj:`1`)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:69 +msgid "Action Manager" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:3 +msgid "The action manager handles the interpretation and application of user-defined actions on a given world. It is comprised of different action terms that decide the dimension of the expected actions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:7 +msgid "The action manager performs operations at two stages:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:9 +msgid "processing of actions: It splits the input actions to each term and performs any pre-processing needed. This should be called once at every environment step." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:11 +msgid "apply actions: This operation typically sets the processed actions into the assets in the scene (such as robots). It should be called before every simulation step." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "Initialize the action manager." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "Sets whether to visualize the action data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "Resets the action history." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid ":py:obj:`process_action `\\ \\(action\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.process_action:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.process_actions:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid "Processes the actions sent to the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid ":py:obj:`apply_action `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.apply_action:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "Applies the actions to the environment/simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid ":py:obj:`get_term `\\ \\(name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.get_term:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "Returns the action term with the specified name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid ":py:obj:`find_terms `\\ \\(name\\_keys\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid ":py:obj:`total_action_dim `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.ActionManager.total_action_dim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "Total dimension of actions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid ":py:obj:`active_terms `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.ActionManager.active_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "Name of active action terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid ":py:obj:`action_term_dim `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.ActionManager.action_term_dim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "Shape of each action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid ":py:obj:`action `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "The actions sent to the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid ":py:obj:`prev_action `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "The previous actions sent to the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.ActionManager.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.CommandManager.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.__init__:1::1 +msgid "Whether the command terms have debug visualization implemented." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.__init__:3 +msgid "The configuration object or dictionary (``dict[str, ActionTermCfg]``)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.ActionManager.action:1 +msgid "The actions sent to the environment. Shape is (num_envs, total_action_dim)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.ActionManager.prev_action:1 +msgid "The previous actions sent to the environment. Shape is (num_envs, total_action_dim)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.set_debug_vis:1 +msgid "Sets whether to visualize the action data. :param debug_vis: Whether to visualize the action data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.set_debug_vis:4 +msgid "Whether the debug visualization was successfully set. False if the action does not support debug visualization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.reset:6 +msgid "An empty dictionary." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.process_action:3 +msgid "This function should be called once per environment step." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.process_action:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.process_actions:5 +msgid "The actions to process." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.apply_action:3 +msgid "This should be called at every simulation step." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.get_term:3 +msgid "The name of the action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionManager.get_term:5 +msgid "The action term with the specified name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:1 +msgid "Bases: :py:class:`~omni.isaac.lab.managers.manager_base.ManagerTermBase`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:3 +msgid "The action term is responsible for processing the raw actions sent to the environment and applying them to the asset managed by the term. The action term is comprised of two operations:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:7 +msgid "Processing of actions: This operation is performed once per **environment step** and is responsible for pre-processing the raw actions sent to the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:9 +msgid "Applying actions: This operation is performed once per **simulation step** and is responsible for applying the processed actions to the asset managed by the term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid "Initialize the action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid "Sets whether to visualize the action term data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid ":py:obj:`process_actions `\\ \\(actions\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid ":py:obj:`apply_actions `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.apply_actions:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid "Applies the actions to the asset managed by the term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid ":py:obj:`action_dim `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.ActionTerm.action_dim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid "Dimension of the action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid ":py:obj:`raw_actions `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.ActionTerm.raw_actions:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid "The input/raw actions sent to the term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid ":py:obj:`processed_actions `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.ActionTerm.processed_actions:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid "The actions computed by the term after applying any processing." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.ActionTerm.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid "Whether the action term has a debug visualization implemented." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.set_debug_vis:1 +msgid "Sets whether to visualize the action term data. :param debug_vis: Whether to visualize the action term data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.set_debug_vis:4 +msgid "Whether the debug visualization was successfully set. False if the action term does not support debug visualization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.process_actions:3 +msgid "This function is called once per environment step by the manager." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py:docstring of omni.isaac.lab.managers.action_manager.ActionTerm.apply_actions:3 +msgid "This is called at every simulation step by the manager." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ActionTermCfg.class_type:1::1 +msgid ":py:obj:`class_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ActionTermCfg.class_type:1::1 +#: ../../docstring of omni.isaac.lab.managers.ActionTermCfg.class_type:1 +msgid "The associated action term class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ActionTermCfg.class_type:1::1 +msgid ":py:obj:`asset_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ActionTermCfg.class_type:1::1 +msgid ":py:obj:`debug_vis `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.ActionTermCfg.class_type:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.CommandTermCfg.resampling_time_range:1::1 +msgid "Whether to visualize debug information." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ActionTermCfg.class_type:3 +msgid "The class should inherit from :class:`omni.isaac.lab.managers.action_manager.ActionTerm`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ActionTermCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.managers.CommandTermCfg.debug_vis:1 +msgid "Whether to visualize debug information. Defaults to False." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:86 +msgid "Event Manager" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:3 +msgid "The event manager applies operations to the environment based on different simulation events. For example, changing the masses of objects or their friction coefficients during initialization/ reset, or applying random pushes to the robot at a fixed interval of steps. The user can specify several modes of events to fine-tune the behavior based on when to apply the event." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:8 +msgid "The event terms are parsed from a config class containing the manager's settings and each term's parameters. Each event term should instantiate the :class:`EventTermCfg` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:11 +msgid "Event terms can be grouped by their mode. The mode is a user-defined string that specifies when the event term should be applied. This provides the user complete control over when event terms should be applied." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:15 +msgid "For a typical training process, you may want to apply events in the following modes:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:17 +msgid "\"startup\": Event is applied once at the beginning of the training." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:18 +msgid "\"reset\": Event is applied at every reset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:19 +msgid "\"interval\": Event is applied at pre-specified intervals of time." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:21 +msgid "However, you can also define your own modes and use them in the training process as you see fit. For this you will need to add the triggering of that mode in the environment implementation as well." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:26 +msgid "The triggering of operations corresponding to the mode ``\"interval\"`` are the only mode that are directly handled by the manager itself. The other modes are handled by the environment implementation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1::1 +msgid "Initialize the event manager." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1::1 +msgid ":py:obj:`apply `\\ \\(mode\\[\\, env\\_ids\\, dt\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.apply:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid "Calls each event term in the specified mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1::1 +msgid ":py:obj:`set_term_cfg `\\ \\(term\\_name\\, cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.set_term_cfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.set_term_cfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.set_term_cfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "Sets the configuration of the specified term into the manager." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1::1 +msgid ":py:obj:`get_term_cfg `\\ \\(term\\_name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.get_term_cfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term_cfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "Gets the configuration for the specified term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager:1::1 +msgid ":py:obj:`find_terms `\\ \\(name\\_keys\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +msgid ":py:obj:`active_terms `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.EventManager.active_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.RandomizationManager.active_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +msgid "Name of active event terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +msgid ":py:obj:`available_modes `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.EventManager.available_modes:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.RandomizationManager.available_modes:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +msgid "Modes of events." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:3 +msgid "A configuration object or dictionary (``dict[str, EventTermCfg]``)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.__init__:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:4 +msgid "An environment object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.EventManager.active_terms:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.RandomizationManager.active_terms:3 +msgid "The keys are the modes of event and the values are the names of the event terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.apply:5 +msgid "For interval mode, the time step of the environment is used to determine if the event should be applied." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.apply:8 +msgid "The mode of event." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.apply:9 +msgid "The indices of the environments to apply the event to. Defaults to None, in which case the event is applied to all environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.apply:11 +msgid "The time step of the environment. This is only used for the \"interval\" mode. Defaults to None to simplify the call for other modes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.apply:14 +msgid "If the mode is ``\"interval\"`` and the time step is not provided." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.set_term_cfg:3 +msgid "The method finds the term by name by searching through all the modes. It then updates the configuration of the term with the first matching name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.set_term_cfg:6 +msgid "The name of the event term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.set_term_cfg:7 +msgid "The configuration for the event term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.set_term_cfg:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.get_term_cfg:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.set_term_cfg:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term_cfg:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.set_term_cfg:6 +msgid "If the term name is not found." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg:3 +msgid "The method finds the term by name by searching through all the modes. It then returns the configuration of the term with the first matching name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg:8 +msgid "The configuration of the event term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.EventTermCfg.params:1::1 +msgid ":py:obj:`func `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.EventTermCfg.params:1::1 +msgid ":py:obj:`mode `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.EventTermCfg.params:1::1 +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.mode:1 +#: ../../docstring of omni.isaac.lab.managers.RandomizationTermCfg.mode:1 +msgid "The mode in which the event term is applied." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.EventTermCfg.params:1::1 +msgid ":py:obj:`interval_range_s `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.EventTermCfg.params:1::1 +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.interval_range_s:1 +#: ../../docstring of omni.isaac.lab.managers.RandomizationTermCfg.interval_range_s:1 +msgid "The range of time in seconds at which the term is applied." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.EventTermCfg.params:1::1 +msgid ":py:obj:`is_global_time `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.EventTermCfg.params:1::1 +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.is_global_time:1 +#: ../../docstring of omni.isaac.lab.managers.RandomizationTermCfg.is_global_time:1 +msgid "Whether randomization should be tracked on a per-environment basis." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.func:3 +#: ../../docstring of omni.isaac.lab.managers.RandomizationTermCfg.func:3 +msgid "This function should take the environment object, environment indices and any other parameters as input." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.mode:5 +#: ../../docstring of omni.isaac.lab.managers.RandomizationTermCfg.mode:5 +msgid "The mode name ``\"interval\"`` is a special mode that is handled by the manager Hence, its name is reserved and cannot be used for other modes." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.interval_range_s:3 +#: ../../docstring of omni.isaac.lab.managers.RandomizationTermCfg.interval_range_s:3 +msgid "Based on this, the interval is sampled uniformly between the specified range for each environment instance. The term is applied on the environment instances where the current time hits the interval time." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.interval_range_s:7 +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.is_global_time:6 +#: ../../docstring of omni.isaac.lab.managers.RandomizationTermCfg.interval_range_s:7 +#: ../../docstring of omni.isaac.lab.managers.RandomizationTermCfg.is_global_time:6 +msgid "This is only used if the mode is ``\"interval\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.is_global_time:3 +#: ../../docstring of omni.isaac.lab.managers.RandomizationTermCfg.is_global_time:3 +msgid "If True, the same time for the interval is tracked for all the environments instead of tracking the time per-environment." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:98 +msgid "Randomization Manager" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:100 +msgid "The Randomization Manager is deprecated and will be removed in v0.4. Please use the :class:`EventManager` class instead." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1 +msgid "Bases: :py:class:`~omni.isaac.lab.managers.event_manager.EventManager`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1 +msgid "Manager for applying event specific operations to different elements in the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:3 +msgid "As the RandomizationManager also handles events such as resetting the environment, the class has been renamed to EventManager as it is more general purpose. The RandomizationManager will be removed in v0.4.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid "Initialize the randomization manager." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid ":py:obj:`apply `\\ \\(mode\\[\\, env\\_ids\\, dt\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid ":py:obj:`find_terms `\\ \\(name\\_keys\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid ":py:obj:`get_term_cfg `\\ \\(term\\_name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid ":py:obj:`randomize `\\ \\(mode\\[\\, env\\_ids\\, dt\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager.randomize:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid "Randomize the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid ":py:obj:`set_term_cfg `\\ \\(term\\_name\\, cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +msgid ":py:obj:`active_terms `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +msgid ":py:obj:`available_modes `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py:docstring of omni.isaac.lab.managers.event_manager.RandomizationManager.randomize:3 +msgid "This method will be removed in v0.4.0. Please use the method :meth:`EventManager.apply` instead." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.RandomizationTermCfg:1 +msgid "Configuration for a randomization term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.manager_term_cfg.RandomizationTermCfg:5 +msgid "This class is deprecated and will be removed in v0.4.0. Please use :class:`EventTermCfg` instead." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:114 +msgid "Command Manager" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:3 +msgid "The command manager is used to generate commands for an agent to execute. It makes it convenient to switch between different command generation strategies within the same environment. For instance, in an environment consisting of a quadrupedal robot, the command to it could be a velocity command or position command. By keeping the command generation logic separate from the environment, it is easy to switch between different command generation strategies." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:9 +msgid "The command terms are implemented as classes that inherit from the :class:`CommandTerm` class. Each command generator term should also have a corresponding configuration class that inherits from the :class:`CommandTermCfg` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "Initialize the command manager." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.CommandTerm.command:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.set_debug_vis:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm.set_debug_vis:1 +msgid "Sets whether to visualize the command data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "Reset the command terms and log their metrics." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid ":py:obj:`compute `\\ \\(dt\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.compute:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "Updates the commands." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid ":py:obj:`get_command `\\ \\(name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.get_command:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "Returns the command for the specified command term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid ":py:obj:`get_term `\\ \\(name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.get_term:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "Returns the command term with the specified name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.__init__:1::1 +msgid ":py:obj:`active_terms `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.CommandManager.active_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.__init__:1::1 +msgid "Name of active command terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.__init__:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.__init__:3 +msgid "The configuration object or dictionary (``dict[str, CommandTermCfg]``)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.set_debug_vis:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm.set_debug_vis:3 +msgid "Whether to visualize the command data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.set_debug_vis:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm.set_debug_vis:5 +msgid "Whether the debug visualization was successfully set. False if the command generator does not support debug visualization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.reset:3 +msgid "This function resets the command counter and resamples the command for each term. It should be called at the beginning of each episode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.reset:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm.reset:6 +msgid "The list of environment IDs to reset. Defaults to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.reset:8 +msgid "A dictionary containing the information to log under the \"Metrics/{term_name}/{metric_name}\" key." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.compute:3 +msgid "This function calls each command term managed by the class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.compute:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.compute:6 +msgid "The time-step interval of the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.get_command:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.get_term:3 +msgid "The name of the command term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.get_command:5 +msgid "The command tensor of the specified command term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandManager.get_term:5 +msgid "The command term with the specified name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm:3 +msgid "A command term is used to generate commands for goal-conditioned tasks. For example, in the case of a goal-conditioned navigation task, the command term can be used to generate a target position for the robot to navigate to." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm:7 +msgid "It implements a resampling mechanism that allows the command to be resampled at a fixed frequency. The resampling frequency can be specified in the configuration object. Additionally, it is possible to assign a visualization function to the command term that can be used to visualize the command in the simulator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm:1::1 +msgid ":py:obj:`command `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm:1::1 +msgid "The command tensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.CommandTerm.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm:1::1 +msgid "Whether the command generator has a debug visualization implemented." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.CommandTerm.command:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.CommandTerm.command:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.CommandTerm.command:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm.reset:1 +msgid "Reset the command generator and log metrics." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.CommandTerm.command:1::1 +msgid ":py:obj:`compute `\\ \\(dt\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.CommandTerm.command:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm.compute:1 +msgid "Compute the command." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.CommandTerm.command:1 +msgid "The command tensor. Shape is (num_envs, command_dim)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm.reset:3 +msgid "This function resets the command counter and resamples the command. It should be called at the beginning of each episode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm.reset:8 +msgid "A dictionary containing the information to log under the \"{name}\" key." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/command_manager.py:docstring of omni.isaac.lab.managers.command_manager.CommandTerm.compute:3 +msgid "The time step passed since the last call to compute." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.CommandTermCfg.resampling_time_range:1::1 +msgid ":py:obj:`resampling_time_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.CommandTermCfg.resampling_time_range:1::1 +#: ../../docstring of omni.isaac.lab.managers.CommandTermCfg.resampling_time_range:1 +msgid "Time before commands are changed [s]." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.CommandTermCfg.resampling_time_range:1::1 +msgid ":py:obj:`debug_vis `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:129 +msgid "Reward Manager" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:3 +msgid "The reward manager computes the total reward as a sum of the weighted reward terms. The reward terms are parsed from a nested config class containing the reward manger's settings and reward terms configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:7 +msgid "The reward terms are parsed from a config class containing the manager's settings and each term's parameters. Each reward term should instantiate the :class:`RewardTermCfg` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:12 +msgid "The reward manager multiplies the reward term's ``weight`` with the time-step interval ``dt`` of the environment. This is done to ensure that the computed reward terms are balanced with respect to the chosen time-step interval in the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid "Initialize the reward manager." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid "Returns the episodic sum of individual reward terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid ":py:obj:`compute `\\ \\(dt\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.compute:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid "Computes the reward signal as a weighted sum of individual terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid ":py:obj:`set_term_cfg `\\ \\(term\\_name\\, cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid ":py:obj:`get_term_cfg `\\ \\(term\\_name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid ":py:obj:`find_terms `\\ \\(name\\_keys\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.__init__:1::1 +msgid ":py:obj:`active_terms `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.RewardManager.active_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.__init__:1::1 +msgid "Name of active reward terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.__init__:3 +msgid "The configuration object or dictionary (``dict[str, RewardTermCfg]``)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.reset:3 +msgid "The environment ids for which the episodic sum of individual reward terms is to be returned. Defaults to all the environment ids." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.reset:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.reset:6 +msgid "Dictionary of episodic sum of individual reward terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.compute:3 +msgid "This function calls each reward term managed by the class and adds them to compute the net reward signal. It also updates the episodic sums corresponding to individual reward terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.compute:8 +msgid "The net reward signal of shape (num_envs,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.get_term_cfg:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.set_term_cfg:3 +msgid "The name of the reward term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.set_term_cfg:4 +msgid "The configuration for the reward term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/reward_manager.py:docstring of omni.isaac.lab.managers.reward_manager.RewardManager.get_term_cfg:5 +msgid "The configuration of the reward term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.RewardTermCfg.__new__:1::1 +msgid ":py:obj:`__new__ `\\ \\(\\*\\*kwargs\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:140 +msgid "Termination Manager" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:3 +msgid "The termination manager computes the termination signal (also called dones) as a combination of termination terms. Each termination term is a function which takes the environment as an argument and returns a boolean tensor of shape (num_envs,). The termination manager computes the termination signal as the union (logical or) of all the termination terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:8 +msgid "Following the `Gymnasium API `_, the termination signal is computed as the logical OR of the following signals:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:11 +msgid "**Time-out**: This signal is set to true if the environment has ended after an externally defined condition (that is outside the scope of a MDP). For example, the environment may be terminated if the episode has timed out (i.e. reached max episode length)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:14 +msgid "**Terminated**: This signal is set to true if the environment has reached a terminal state defined by the environment. This state may correspond to task success, task failure, robot falling, etc." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:17 +msgid "These signals can be individually accessed using the :attr:`time_outs` and :attr:`terminated` properties." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:19 +msgid "The termination terms are parsed from a config class containing the manager's settings and each term's parameters. Each termination term should instantiate the :class:`TerminationTermCfg` class. The term's configuration :attr:`TerminationTermCfg.time_out` decides whether the term is a timeout or a termination term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "Initializes the termination manager." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "Returns the episodic counts of individual termination terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid ":py:obj:`compute `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.compute:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "Computes the termination signal as union of individual terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid ":py:obj:`get_term `\\ \\(name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "Returns the termination term with the specified name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid ":py:obj:`set_term_cfg `\\ \\(term\\_name\\, cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid ":py:obj:`get_term_cfg `\\ \\(term\\_name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid ":py:obj:`find_terms `\\ \\(name\\_keys\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid ":py:obj:`active_terms `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.TerminationManager.active_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "Name of active termination terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid ":py:obj:`dones `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "The net termination signal." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid ":py:obj:`time_outs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "The timeout signal (reaching max episode length)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid ":py:obj:`terminated `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "The terminated signal (reaching a terminal state)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:3 +msgid "The configuration object or dictionary (``dict[str, TerminationTermCfg]``)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.TerminationManager.dones:1 +msgid "The net termination signal. Shape is (num_envs,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.TerminationManager.time_outs:1 +msgid "The timeout signal (reaching max episode length). Shape is (num_envs,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.TerminationManager.time_outs:3 +msgid "This signal is set to true if the environment has ended after an externally defined condition (that is outside the scope of a MDP). For example, the environment may be terminated if the episode has timed out (i.e. reached max episode length)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.TerminationManager.terminated:1 +msgid "The terminated signal (reaching a terminal state). Shape is (num_envs,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.TerminationManager.terminated:3 +msgid "This signal is set to true if the environment has reached a terminal state defined by the environment. This state may correspond to task success, task failure, robot falling, etc." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.compute:3 +msgid "This function calls each termination term managed by the class and performs a logical OR operation to compute the net termination signal." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.compute:6 +msgid "The combined termination signal of shape (num_envs,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term_cfg:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.set_term_cfg:3 +msgid "The name of the termination term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term:5 +msgid "The corresponding termination term value. Shape is (num_envs,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.set_term_cfg:4 +msgid "The configuration for the termination term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/termination_manager.py:docstring of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term_cfg:5 +msgid "The configuration of the termination term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.TerminationTermCfg.params:1::1 +msgid ":py:obj:`func `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.TerminationTermCfg.params:1::1 +msgid ":py:obj:`time_out `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.TerminationTermCfg.params:1::1 +msgid "Whether the termination term contributes towards episodic timeouts." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.TerminationTermCfg.func:3 +msgid "This function should take the environment object and any other parameters as input and return the termination signals as torch boolean tensors of shape (num_envs,)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.TerminationTermCfg.time_out:1 +msgid "Whether the termination term contributes towards episodic timeouts. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.TerminationTermCfg.time_out:3 +msgid "These usually correspond to tasks that have a fixed time limit." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:152 +msgid "Curriculum Manager" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:3 +msgid "The curriculum manager updates various quantities of the environment subject to a training curriculum by calling a list of terms. These help stabilize learning by progressively making the learning tasks harder as the agent improves." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:7 +msgid "The curriculum terms are parsed from a config class containing the manager's settings and each term's parameters. Each curriculum term should instantiate the :class:`CurriculumTermCfg` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\, env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +msgid "Returns the current state of individual curriculum terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +msgid ":py:obj:`compute `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.compute:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +msgid "Update the curriculum terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +msgid ":py:obj:`find_terms `\\ \\(name\\_keys\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:1::1 +msgid ":py:obj:`active_terms `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.CurriculumManager.active_terms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:1::1 +msgid "Name of active curriculum terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:3 +msgid "The configuration object or dictionary (``dict[str, CurriculumTermCfg]``)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:6 +msgid "If curriculum term is not of type :class:`CurriculumTermCfg`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:7 +msgid "If curriculum term configuration does not satisfy its function signature." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.reset:5 +msgid "This function does not use the environment indices :attr:`env_ids` and logs the state of all the terms. The argument is only present to maintain consistency with other classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.reset:9 +msgid "Dictionary of curriculum terms and their states." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.compute:3 +msgid "This function calls each curriculum term managed by the class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/curriculum_manager.py:docstring of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.compute:5 +msgid "The list of environment IDs to update. If None, all the environments are updated. Defaults to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_term_cfg.py:docstring of omni.isaac.lab.managers.CurriculumTermCfg.func:1::1 +msgid ":py:obj:`func `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.CurriculumTermCfg.func:3 +msgid "This function should take the environment object, environment indices and any other parameters as input and return the curriculum state for logging purposes. If the function returns None, the curriculum state is not logged." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.markers.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.markers.pot new file mode 100644 index 0000000000..09ac18ade4 --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.markers.pot @@ -0,0 +1,267 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.markers.rst:2 +msgid "omni.isaac.lab.markers" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/__init__.py:docstring of omni.isaac.lab.markers:1 +msgid "Sub-package for marker utilities to simplify creation of UI elements in the GUI." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/__init__.py:docstring of omni.isaac.lab.markers:3 +msgid "Currently, the sub-package provides the following classes:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/__init__.py:docstring of omni.isaac.lab.markers:5 +msgid ":class:`VisualizationMarkers` for creating a group of markers using `UsdGeom.PointInstancer `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/__init__.py:docstring of omni.isaac.lab.markers:11 +msgid "For some simple use-cases, it may be sufficient to use the debug drawing utilities from Isaac Sim. The debug drawing API is available in the `omni.isaac.debug_drawing`_ module. It allows drawing of points and splines efficiently on the UI." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.markers.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.markers.rst:11::1 +msgid ":py:obj:`VisualizationMarkers `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.markers.rst:11::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1 +msgid "A class to coordinate groups of visual markers (loaded from USD)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.markers.rst:11::1 +msgid ":py:obj:`VisualizationMarkersCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.markers.rst:11::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg:1 +msgid "A class to configure a :class:`VisualizationMarkers`." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.markers.rst:14 +msgid "Visualization Markers" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:3 +msgid "This class allows visualization of different UI markers in the scene, such as points and frames. The class wraps around the `UsdGeom.PointInstancer`_ for efficient handling of objects in the stage via instancing the created marker prototype prims." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:7 +msgid "A marker prototype prim is a reusable template prim used for defining variations of objects in the scene. For example, a sphere prim can be used as a marker prototype prim to create multiple sphere prims in the scene at different locations. Thus, prototype prims are useful for creating multiple instances of the same prim in the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:12 +msgid "The class parses the configuration to create different the marker prototypes into the stage. Each marker prototype prim is created as a child of the :class:`UsdGeom.PointInstancer` prim. The prim path for the the marker prim is resolved using the key of the marker in the :attr:`VisualizationMarkersCfg.markers` dictionary. The marker prototypes are created using the :meth:`omni.isaac.core.utils.create_prim` function, and then then instanced using :class:`UsdGeom.PointInstancer` prim to allow creating multiple instances of the marker prims." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:19 +msgid "Switching between different marker prototypes is possible by calling the :meth:`visualize` method with the prototype indices corresponding to the marker prototype. The prototype indices are based on the order in the :attr:`VisualizationMarkersCfg.markers` dictionary. For example, if the dictionary has two markers, \"marker1\" and \"marker2\", then their prototype indices are 0 and 1 respectively. The prototype indices can be passed as a list or array of integers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:71 +msgid "Usage:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:26 +msgid "The following snippet shows how to create 24 sphere markers with a radius of 1.0 at random translations within the range [-1.0, 1.0]. The first 12 markers will be colored red and the rest will be colored green." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid "Initialize the class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid ":py:obj:`set_visibility `\\ \\(visible\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.set_visibility:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid "Sets the visibility of the markers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid ":py:obj:`is_visible `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.is_visible:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid "Checks the visibility of the markers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid ":py:obj:`visualize `\\ \\(\\[translations\\, orientations\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid "Update markers in the viewport." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:1::1 +msgid ":py:obj:`num_prototypes `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.VisualizationMarkers.num_prototypes:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:1::1 +msgid "The number of marker prototypes available." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:1::1 +msgid ":py:obj:`count `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.VisualizationMarkers.count:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:1::1 +msgid "The total number of marker instances." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:3 +msgid "When the class is initialized, the :class:`UsdGeom.PointInstancer` is created into the stage and the marker prims are registered into it." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:7 +msgid "If a prim already exists at the given path, the function will find the next free path and create the :class:`UsdGeom.PointInstancer` prim there." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.set_visibility:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:10 +msgid "The configuration for the markers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:12 +msgid "When no markers are provided in the :obj:`cfg`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.set_visibility:3 +msgid "The method does this through the USD API." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.set_visibility:5 +msgid "flag to set the visibility." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.is_visible:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.is_visible:3 +msgid "True if the markers are visible, False otherwise." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:4 +msgid "If the prim `PointInstancer` is hidden in the stage, the function will simply return without updating the markers. This helps in unnecessary computation when the markers are not visible." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:8 +msgid "Whenever updating the markers, the input arrays must have the same number of elements in the first dimension. If the number of elements is different, the `UsdGeom.PointInstancer` will raise an error complaining about the mismatch." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:12 +msgid "Additionally, the function supports dynamic update of the markers. This means that the number of markers can change between calls. For example, if you have 24 points that you want to visualize, you can pass 24 translations, orientations, and scales. If you want to visualize only 12 points, you can pass 12 translations, orientations, and scales. The function will automatically update the number of markers in the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:18 +msgid "The function will also update the marker prototypes based on their prototype indices. For instance, if you have two marker prototypes, and you pass the following marker indices: [0, 1, 0, 1], the function will update the first and third markers with the first prototype, and the second and fourth markers with the second prototype. This is useful when you want to visualize different markers in the same scene. The list of marker indices must have the same number of elements as the translations, orientations, or scales. If the number of elements is different, the function will raise an error." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:26 +msgid "This function will update all the markers instanced from the prototypes. That means if you have 24 markers, you will need to pass 24 translations, orientations, and scales." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:29 +msgid "If you want to update only a subset of the markers, you will need to handle the indices yourself and pass the complete arrays to this function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:32 +msgid "Translations w.r.t. parent prim frame. Shape is (M, 3). Defaults to None, which means left unchanged." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:34 +msgid "Quaternion orientations (w, x, y, z) w.r.t. parent prim frame. Shape is (M, 4). Defaults to None, which means left unchanged." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:36 +msgid "Scale applied before any rotation is applied. Shape is (M, 3). Defaults to None, which means left unchanged." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:38 +msgid "Decides which marker prototype to visualize. Shape is (M). Defaults to None, which means left unchanged provided that the total number of markers is the same as the previous call. If the number of markers is different, the function will update the number of markers in the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:43 +msgid "When input arrays do not follow the expected shapes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:44 +msgid "When the function is called with all None arguments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path:1::1 +msgid ":py:obj:`prim_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path:1::1 +#: ../../docstring of omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path:1 +msgid "The prim path where the :class:`UsdGeom.PointInstancer` will be created." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path:1::1 +msgid ":py:obj:`markers `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/markers/visualization_markers.py:docstring of omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path:1::1 +#: ../../docstring of omni.isaac.lab.markers.VisualizationMarkersCfg.markers:1 +msgid "The dictionary of marker configurations." +msgstr "" + +#: ../../docstring of omni.isaac.lab.markers.VisualizationMarkersCfg.markers:3 +msgid "The key is the name of the marker, and the value is the configuration of the marker. The key is used to identify the marker in the class." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.scene.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.scene.pot new file mode 100644 index 0000000000..79e2993bec --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.scene.pot @@ -0,0 +1,407 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.scene.rst:2 +msgid "omni.isaac.lab.scene" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/__init__.py:docstring of omni.isaac.lab.scene:1 +msgid "Sub-package containing an interactive scene definition." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/__init__.py:docstring of omni.isaac.lab.scene:3 +msgid "A scene is a collection of entities (e.g., terrain, articulations, sensors, lights, etc.) that can be added to the simulation. However, only a subset of these entities are of direct interest for the user to interact with. For example, the user may want to interact with a robot in the scene, but not with the terrain or the lights. For this reason, we integrate the different entities into a single class called :class:`InteractiveScene`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/__init__.py:docstring of omni.isaac.lab.scene:8 +msgid "The interactive scene performs the following tasks:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/__init__.py:docstring of omni.isaac.lab.scene:10 +msgid "It parses the configuration class :class:`InteractiveSceneCfg` to create the scene. This configuration class is inherited by the user to add entities to the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/__init__.py:docstring of omni.isaac.lab.scene:12 +msgid "It clones the entities based on the number of environments specified by the user." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/__init__.py:docstring of omni.isaac.lab.scene:13 +msgid "It clubs the entities into different groups based on their type (e.g., articulations, sensors, etc.)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/__init__.py:docstring of omni.isaac.lab.scene:14 +msgid "It provides a set of methods to unify the common operations on the entities in the scene (e.g., resetting internal buffers, writing buffers to simulation and updating buffers from simulation)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/__init__.py:docstring of omni.isaac.lab.scene:17 +msgid "The interactive scene can be passed around to different modules in the framework to perform different tasks. For instance, computing the observations based on the state of the scene, or randomizing the scene, or applying actions to the scene. All these are handled by different \"managers\" in the framework. Please refer to the :mod:`omni.isaac.lab.managers` sub-package for more details." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.scene.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.scene.rst:11::1 +msgid ":py:obj:`InteractiveScene `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.scene.rst:11::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1 +msgid "A scene that contains entities added to the simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.scene.rst:11::1 +msgid ":py:obj:`InteractiveSceneCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.scene.rst:11::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py:docstring of omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg:1 +msgid "Configuration for the interactive scene." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.scene.rst:14 +msgid "interactive Scene" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:3 +msgid "The interactive scene parses the :class:`InteractiveSceneCfg` class to create the scene. Based on the specified number of environments, it clones the entities and groups them into different categories (e.g., articulations, sensors, etc.)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:7 +msgid "Each entity is registered to scene based on its name in the configuration class. For example, if the user specifies a robot in the configuration class as follows:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:22 +msgid "Then the robot can be accessed from the scene as follows:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:37 +msgid "It is important to note that the scene only performs common operations on the entities. For example, resetting the internal buffers, writing the buffers to the simulation and updating the buffers from the simulation. The scene does not perform any task specific to the entity. For example, it does not apply actions to the robot or compute observations from the robot. These tasks are handled by different modules called \"managers\" in the framework. Please refer to the :mod:`omni.isaac.lab.managers` sub-package for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "Initializes the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid ":py:obj:`clone_environments `\\ \\(\\[copy\\_from\\_source\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.clone_environments:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "Creates clones of the environment ``/World/envs/env_0``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid ":py:obj:`filter_collisions `\\ \\(\\[global\\_prim\\_paths\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.filter_collisions:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "Filter environments collisions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "Resets the scene entities." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid ":py:obj:`write_data_to_sim `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.write_data_to_sim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "Writes the data of the scene entities to the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid ":py:obj:`update `\\ \\(dt\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.update:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "Update the scene entities." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid ":py:obj:`keys `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.keys:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "Returns the keys of the scene entities." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py:docstring of omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`physics_scene_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.physics_scene_path:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "Search the stage for the physics scene" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`physics_dt `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.physics_dt:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "The physics timestep of the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "The device on which the scene is created." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`env_ns `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.env_ns:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "The namespace ``/World/envs`` in which all environments created." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`env_regex_ns `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.env_regex_ns:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "The namespace ``/World/envs/env_.*`` in which all environments created." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.num_envs:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "The number of environments handled by the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`env_origins `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "The origins of the environments in the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`terrain `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "The terrain in the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`articulations `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.articulations:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "A dictionary of articulations in the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`rigid_objects `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.rigid_objects:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "A dictionary of rigid objects in the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`sensors `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.sensors:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "A dictionary of the sensors in the scene, such as cameras and contact reporters." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`extras `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.extras:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "A dictionary of miscellaneous simulation objects that neither inherit from assets nor sensors." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.clone_environments:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.filter_collisions:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.update:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:3 +msgid "The configuration class for the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.clone_environments:3 +msgid "(bool): If set to False, clones inherit from /World/envs/env_0 and mirror its changes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.filter_collisions:3 +msgid "Disables collisions between the environments in ``/World/envs/env_.*`` and enables collisions with the prims in global prim paths (e.g. ground plane)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.filter_collisions:6 +msgid "The global prim paths to enable collisions with." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.env_ns:3 +msgid "The environments are present w.r.t. this namespace under \"env_{N}\" prim, where N is a natural number." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.env_origins:1 +msgid "The origins of the environments in the scene. Shape is (num_envs, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.terrain:1 +msgid "The terrain in the scene. If None, then the scene has no terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.terrain:5 +msgid "We treat terrain separate from :attr:`extras` since terrains define environment origins and are handled differently from other miscellaneous entities." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.extras:3 +msgid "The keys are the names of the miscellaneous objects, and the values are the `XFormPrimView`_ of the corresponding prims." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.extras:6 +msgid "As an example, lights or other props in the scene that do not have any attributes or properties that you want to alter at runtime can be added to this dictionary." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.InteractiveScene.extras:11 +msgid "These are not reset or updated by the scene. They are mainly other prims that are not necessarily handled by the interactive scene, but are useful to be accessed by the user." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.reset:3 +msgid "The indices of the environments to reset. Defaults to None (all instances)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.update:3 +msgid "The amount of time passed from last :meth:`update` call." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.keys:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py:docstring of omni.isaac.lab.scene.interactive_scene.InteractiveScene.keys:3 +msgid "The keys of the scene entities." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py:docstring of omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg:3 +msgid "The users can inherit from this class to add entities to their scene. This is then parsed by the :class:`InteractiveScene` class to create the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py:docstring of omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg:7 +msgid "The adding of entities to the scene is sensitive to the order of the attributes in the configuration. Please make sure to add the entities in the order you want them to be added to the scene. The recommended order of specification is terrain, physics-related assets (articulations and rigid bodies), sensors and non-physics-related assets (lights)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py:docstring of omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg:12 +msgid "For example, to add a robot to the scene, the user can create a configuration class as follows:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py:docstring of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py:docstring of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +#: ../../docstring of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1 +msgid "Number of environment instances handled by the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py:docstring of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +msgid ":py:obj:`env_spacing `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py:docstring of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +#: ../../docstring of omni.isaac.lab.scene.InteractiveSceneCfg.env_spacing:1 +msgid "Spacing between environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py:docstring of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +msgid ":py:obj:`lazy_sensor_update `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py:docstring of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +msgid "Whether to update sensors only when they are accessed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py:docstring of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +msgid ":py:obj:`replicate_physics `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene_cfg.py:docstring of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +msgid "Enable/disable replication of physics schemas when using the Cloner APIs." +msgstr "" + +#: ../../docstring of omni.isaac.lab.scene.InteractiveSceneCfg.env_spacing:3 +msgid "This is the default distance between environment origins in the scene. Used only when the number of environments is greater than one." +msgstr "" + +#: ../../docstring of omni.isaac.lab.scene.InteractiveSceneCfg.lazy_sensor_update:1 +msgid "Whether to update sensors only when they are accessed. Default is True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.scene.InteractiveSceneCfg.lazy_sensor_update:3 +msgid "If true, the sensor data is only updated when their attribute ``data`` is accessed. Otherwise, the sensor data is updated every time sensors are updated." +msgstr "" + +#: ../../docstring of omni.isaac.lab.scene.InteractiveSceneCfg.replicate_physics:1 +msgid "Enable/disable replication of physics schemas when using the Cloner APIs. Default is True." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.sensors.patterns.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.sensors.patterns.pot new file mode 100644 index 0000000000..d66934b3c1 --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.sensors.patterns.pot @@ -0,0 +1,366 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:2 +msgid "omni.isaac.lab.sensors.patterns" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns:1 +msgid "Sub-module for ray-casting patterns used by the ray-caster." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +msgid ":py:obj:`PatternBaseCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.PatternBaseCfg:1 +msgid "Base configuration for a pattern." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +msgid ":py:obj:`GridPatternCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.GridPatternCfg:1 +msgid "Configuration for the grid pattern for ray-casting." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +msgid ":py:obj:`PinholeCameraPatternCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.PinholeCameraPatternCfg:1 +msgid "Configuration for a pinhole camera depth image pattern for ray-casting." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +msgid ":py:obj:`BpearlPatternCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.BpearlPatternCfg:1 +msgid "Configuration for the Bpearl pattern for ray-casting." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:16 +msgid "Pattern Base" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.BpearlPatternCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.GridPatternCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.PatternBaseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.PinholeCameraPatternCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.PatternBaseCfg.func:1::1 +msgid ":py:obj:`func `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.PatternBaseCfg.func:1::1 +#: ../../docstring of omni.isaac.lab.sensors.patterns.PatternBaseCfg.func:1 +msgid "Function to generate the pattern." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.PatternBaseCfg.func:3 +msgid "The function should take in the configuration and the device name as arguments. It should return the pattern's starting positions and directions as a tuple of torch.Tensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:24 +msgid "Grid Pattern" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:1 +msgid "A regular grid pattern for ray casting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:3 +msgid "The grid pattern is made from rays that are parallel to each other. They span a 2D grid in the sensor's local coordinates from ``(-length/2, -width/2)`` to ``(length/2, width/2)``, which is defined by the ``size = (length, width)`` and ``resolution`` parameters in the config." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.bpearl_pattern:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.bpearl_pattern:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern:8 +msgid "The configuration instance for the pattern." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.bpearl_pattern:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern:10 +msgid "The device to create the pattern on." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.bpearl_pattern:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.bpearl_pattern:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:10 +msgid "The starting positions and directions of the rays." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:12 +msgid "If the ordering is not \"xy\" or \"yx\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:13 +msgid "If the resolution is less than or equal to 0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.GridPatternCfg:3 +msgid "Defines a 2D grid of rays in the coordinates of the sensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.GridPatternCfg:6 +msgid "The points are ordered based on the :attr:`ordering` attribute." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +msgid ":py:obj:`resolution `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +#: ../../docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1 +msgid "Grid resolution (in meters)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +msgid ":py:obj:`size `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +#: ../../docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.size:1 +msgid "Grid size (length, width) (in meters)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +msgid ":py:obj:`direction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +msgid "Ray direction." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +msgid ":py:obj:`ordering `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +msgid "Specifies the ordering of points in the generated grid." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.direction:1 +msgid "Ray direction. Defaults to (0.0, 0.0, -1.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering:1 +msgid "Specifies the ordering of points in the generated grid. Defaults to ``\"xy\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering:3 +msgid "Consider a grid pattern with points at :math:`(x, y)` where :math:`x` and :math:`y` are the grid indices. The ordering of the points can be specified as \"xy\" or \"yx\". This determines the outer and inner loop order when iterating over the grid points." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering:7 +msgid "If *\"xy\"* is selected, the points are ordered with outer loop over \"x\" and inner loop over \"y\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering:8 +msgid "If *\"yx\"* is selected, the points are ordered with outer loop over \"y\" and inner loop over \"x\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering:10 +msgid "For example, the grid pattern points with :math:`X = (0, 1, 2)` and :math:`Y = (3, 4)`:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering:12 +msgid "*\"xy\"* ordering: :math:`[(0, 3), (0, 4), (1, 3), (1, 4), (2, 3), (2, 4)]`" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering:13 +msgid "*\"yx\"* ordering: :math:`[(0, 3), (1, 3), (2, 3), (1, 4), (2, 4), (2, 4)]`" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:34 +msgid "Pinhole Camera Pattern" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern:1 +msgid "The image pattern for ray casting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern:4 +msgid "This function does not follow the standard pattern interface. It requires the intrinsic matrices of the cameras to be passed in. This is because we want to be able to randomize the intrinsic matrices of the cameras, which is not possible with the standard pattern interface." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern:9 +msgid "The intrinsic matrices of the cameras. Shape is (N, 3, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern:12 +msgid "The starting positions and directions of the rays. The shape of the tensors are (N, H * W, 3) and (N, H * W, 3) respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid ":py:obj:`focal_length `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid "Perspective focal length (in cm)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid ":py:obj:`horizontal_aperture `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid "Horizontal aperture (in mm)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid ":py:obj:`horizontal_aperture_offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid "Offsets Resolution/Film gate horizontally." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid ":py:obj:`vertical_aperture_offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid "Offsets Resolution/Film gate vertically." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid ":py:obj:`width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +#: ../../docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.width:1 +msgid "Width of the image (in pixels)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid ":py:obj:`height `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +#: ../../docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.height:1 +msgid "Height of the image (in pixels)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1 +msgid "Perspective focal length (in cm). Defaults to 24.0cm." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:3 +msgid "Longer lens lengths narrower FOV, shorter lens lengths wider FOV." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture:1 +msgid "Horizontal aperture (in mm). Defaults to 20.955mm." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture:3 +msgid "Emulates sensor/film width on a camera." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture:5 +msgid "The default value is the horizontal aperture of a 35 mm spherical projector." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture_offset:1 +msgid "Offsets Resolution/Film gate horizontally. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture_offset:1 +msgid "Offsets Resolution/Film gate vertically. Defaults to 0.0." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:44 +msgid "RS-Bpearl Pattern" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.bpearl_pattern:1 +msgid "The RS-Bpearl pattern for ray casting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns.py:docstring of omni.isaac.lab.sensors.ray_caster.patterns.patterns.bpearl_pattern:3 +msgid "The `Robosense RS-Bpearl`_ is a short-range LiDAR that has a 360 degrees x 90 degrees super wide field of view. It is designed for near-field blind-spots detection." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov:1::1 +msgid ":py:obj:`horizontal_fov `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov:1::1 +msgid "Horizontal field of view (in degrees)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov:1::1 +msgid ":py:obj:`horizontal_res `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov:1::1 +msgid "Horizontal resolution (in degrees)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov:1::1 +msgid ":py:obj:`vertical_ray_angles `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/patterns/patterns_cfg.py:docstring of omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov:1::1 +msgid "Vertical ray angles (in degrees)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov:1 +msgid "Horizontal field of view (in degrees). Defaults to 360.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_res:1 +msgid "Horizontal resolution (in degrees). Defaults to 10.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.BpearlPatternCfg.vertical_ray_angles:1 +msgid "Vertical ray angles (in degrees). Defaults to a list of 32 angles." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.BpearlPatternCfg.vertical_ray_angles:5 +msgid "We manually set the vertical ray angles to match the Bpearl sensor. The ray-angles are not evenly spaced." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.sensors.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.sensors.pot new file mode 100644 index 0000000000..eae603a6b9 --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.sensors.pot @@ -0,0 +1,2625 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:2 +msgid "omni.isaac.lab.sensors" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:1 +msgid "Sub-package containing various sensor classes implementations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:3 +msgid "This subpackage contains the sensor classes that are compatible with Isaac Sim. We include both USD-based and custom sensors:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:6 +msgid "**USD-prim sensors**: Available in Omniverse and require creating a USD prim for them. For instance, RTX ray tracing camera and lidar sensors." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:8 +msgid "**USD-schema sensors**: Available in Omniverse and require creating a USD schema on an existing prim. For instance, contact sensors and frame transformers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:10 +msgid "**Custom sensors**: Implemented in Python and do not require creating any USD prim or schema. For instance, warp-based ray-casters." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:13 +msgid "Due to the above categorization, the prim paths passed to the sensor's configuration class are interpreted differently based on the sensor type. The following table summarizes the interpretation of the prim paths for different sensor types:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:18 +msgid "Sensor Type" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:18 +msgid "Example Prim Path" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:18 +msgid "Pre-check" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:20 +msgid "Camera" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:20 +msgid "/World/robot/base/camera" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:20 +msgid "Leaf is available, and it will spawn a USD camera" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:79 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:22 +msgid "Contact Sensor" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:22 +msgid "/World/robot/feet_*" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:22 +msgid "Leaf is available and checks if the schema exists" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:24 +msgid "Ray Caster" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:24 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:26 +msgid "/World/robot/base" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:24 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:26 +msgid "Leaf exists and is a physics body (Articulation / Rigid Body)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:98 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/__init__.py:docstring of omni.isaac.lab.sensors:26 +msgid "Frame Transformer" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:7 +msgid "Submodules" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:11::1 +msgid ":py:obj:`patterns `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:11::1 +msgid "Sub-module for ray-casting patterns used by the ray-caster." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:13 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`SensorBase `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase:1 +msgid "The base class for implementing a sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`SensorBaseCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base_cfg.py:docstring of omni.isaac.lab.sensors.sensor_base_cfg.SensorBaseCfg:1 +msgid "Configuration parameters for a sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`Camera `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1 +msgid "The camera sensor for acquiring visual data." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`CameraData `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.camera.camera_data.CameraData:1 +msgid "Data container for the camera sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`CameraCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg:1 +msgid "Configuration for a camera sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`TiledCamera `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1 +msgid "The tiled rendering based camera sensor for acquiring RGB and depth data." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`TiledCameraCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg:1 +msgid "Configuration for a tiled rendering-based camera sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`ContactSensor `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1 +msgid "A contact reporting sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`ContactSensorData `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor_data.ContactSensorData:1 +msgid "Data container for the contact reporting sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`ContactSensorCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor_cfg.ContactSensorCfg:1 +msgid "Configuration for the contact sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`FrameTransformer `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1 +msgid "A sensor for reporting frame transforms." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`FrameTransformerData `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_data.FrameTransformerData:1 +msgid "Data container for the frame transformer sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`FrameTransformerCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg:1 +msgid "Configuration for the frame transformer sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`RayCaster `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1 +msgid "A ray-casting sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`RayCasterData `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_data.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_data.RayCasterData:1 +msgid "Data container for the ray-cast sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`RayCasterCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg:1 +msgid "Configuration for the ray-cast sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`RayCasterCamera `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1 +msgid "A ray-casting camera sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`RayCasterCameraCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:36 +msgid "Sensor Base" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase:3 +msgid "The implementation is based on lazy evaluation. The sensor data is only updated when the user tries accessing the data through the :attr:`data` property or sets ``force_compute=True`` in the :meth:`update` method. This is done to avoid unnecessary computation when the sensor data is not used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase:8 +msgid "The sensor is updated at the specified update period. If the update period is zero, then the sensor is updated at every simulation step." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase:1::1 +msgid "Initialize the sensor class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase:1::1 +msgid "Sets whether to visualize the sensor data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase:1::1 +msgid "Resets the sensor internals." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.camera.camera_data.CameraData:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor_cfg.ContactSensorCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor_data.ContactSensorData:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_data.FrameTransformerData:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_data.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_data.RayCasterData:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base_cfg.py:docstring of omni.isaac.lab.sensors.sensor_base_cfg.SensorBaseCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid ":py:obj:`is_initialized `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.is_initialized:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.is_initialized:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.is_initialized:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.is_initialized:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.is_initialized:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.is_initialized:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.SensorBase.is_initialized:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid "Whether the sensor is initialized." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid ":py:obj:`num_instances `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.num_instances:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.num_instances:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.num_instances:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.num_instances:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.num_instances:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.num_instances:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.SensorBase.num_instances:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid "Number of instances of the sensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.SensorBase.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid "Memory device for computation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.data:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.data:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.data:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.data:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.data:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.data:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.SensorBase.data:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid "Data from the sensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.SensorBase.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid "Whether the sensor has a debug visualization implemented." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.find_bodies:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_intrinsic_matrices:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:3 +msgid "The configuration parameters for the sensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.is_initialized:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.is_initialized:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.is_initialized:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.is_initialized:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.is_initialized:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.is_initialized:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.SensorBase.is_initialized:3 +msgid "Returns True if the sensor is initialized, False otherwise." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.num_instances:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.num_instances:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.num_instances:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.num_instances:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.num_instances:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.num_instances:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.SensorBase.num_instances:3 +msgid "This is equal to the number of sensors per environment multiplied by the number of environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.data:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.data:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.data:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.data:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.data:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.data:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.SensorBase.data:3 +msgid "This property is only updated when the user tries to access the data. This is done to avoid unnecessary computation when the sensor data is not used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.data:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.data:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.data:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.data:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.data:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.data:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.SensorBase.data:6 +msgid "For updating the sensor when this property is accessed, you can use the following code snippet in your sensor implementation:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:3 +msgid "Whether to visualize the sensor data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.find_bodies:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:5 +msgid "Whether the debug visualization was successfully set. False if the sensor does not support debug visualization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base.py:docstring of omni.isaac.lab.sensors.sensor_base.SensorBase.reset:3 +msgid "The sensor ids to reset. Defaults to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base_cfg.py:docstring of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +msgid ":py:obj:`prim_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base_cfg.py:docstring of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.prim_path:1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.prim_path:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.prim_path:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.prim_path:1 +#: ../../docstring of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.prim_path:1 +msgid "Prim path (or expression) to the sensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base_cfg.py:docstring of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +msgid ":py:obj:`update_period `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base_cfg.py:docstring of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +msgid "Update period of the sensor buffers (in seconds)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base_cfg.py:docstring of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +msgid ":py:obj:`history_length `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base_cfg.py:docstring of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +msgid "Number of past frames to store in the sensor buffers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base_cfg.py:docstring of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +msgid ":py:obj:`debug_vis `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/sensor_base_cfg.py:docstring of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +msgid "Whether to visualize the sensor." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.prim_path:4 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.prim_path:4 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.prim_path:4 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.prim_path:4 +#: ../../docstring of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:4 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.prim_path:4 +msgid "The expression can contain the environment namespace regex ``{ENV_REGEX_NS}`` which will be replaced with the environment namespace." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.prim_path:7 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.prim_path:7 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.prim_path:7 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.prim_path:7 +#: ../../docstring of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:7 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.prim_path:7 +msgid "Example: ``{ENV_REGEX_NS}/Robot/sensor`` will be replaced with ``/World/envs/env_.*/Robot/sensor``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.update_period:1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.update_period:1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.update_period:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.update_period:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.update_period:1 +#: ../../docstring of omni.isaac.lab.sensors.SensorBaseCfg.update_period:1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.update_period:1 +msgid "Update period of the sensor buffers (in seconds). Defaults to 0.0 (update every step)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.history_length:1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.history_length:1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.history_length:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.history_length:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.history_length:1 +#: ../../docstring of omni.isaac.lab.sensors.SensorBaseCfg.history_length:1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.history_length:1 +msgid "Number of past frames to store in the sensor buffers. Defaults to 0, which means that only the current data is stored (no history)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.sensors.SensorBaseCfg.debug_vis:1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.debug_vis:1 +msgid "Whether to visualize the sensor. Defaults to False." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:46 +msgid "USD Camera" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sensors.sensor_base.SensorBase`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:3 +msgid "This class wraps over the `UsdGeom Camera`_ for providing a consistent API for acquiring visual data. It ensures that the camera follows the ROS convention for the coordinate system." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:6 +msgid "Summarizing from the `replicator extension`_, the following sensor types are supported:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:10 +msgid "``\"rgb\"``: A rendered color image." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:12 +msgid "``\"distance_to_camera\"``: An image containing the distance to camera optical center." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:13 +msgid "``\"distance_to_image_plane\"``: An image containing distances of 3D points from camera plane along camera's z-axis." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:14 +msgid "``\"normals\"``: An image containing the local surface normal vectors at each pixel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:12 +msgid "``\"motion_vectors\"``: An image containing the motion vector data at each pixel." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:13 +msgid "``\"semantic_segmentation\"``: The semantic segmentation data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:14 +msgid "``\"instance_segmentation_fast\"``: The instance segmentation data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:15 +msgid "``\"instance_id_segmentation_fast\"``: The instance id segmentation data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:18 +msgid "Currently the following sensor types are not supported in a \"view\" format:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:20 +msgid "``\"instance_segmentation\"``: The instance segmentation data. Please use the fast counterparts instead." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:21 +msgid "``\"instance_id_segmentation\"``: The instance id segmentation data. Please use the fast counterparts instead." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:22 +msgid "``\"bounding_box_2d_tight\"``: The tight 2D bounding box data (only contains non-occluded regions)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:23 +msgid "``\"bounding_box_2d_tight_fast\"``: The tight 2D bounding box data (only contains non-occluded regions)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:24 +msgid "``\"bounding_box_2d_loose\"``: The loose 2D bounding box data (contains occluded regions)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:25 +msgid "``\"bounding_box_2d_loose_fast\"``: The loose 2D bounding box data (contains occluded regions)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:26 +msgid "``\"bounding_box_3d\"``: The 3D view space bounding box data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:27 +msgid "``\"bounding_box_3d_fast\"``: The 3D view space bounding box data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +#: ../../docstring of omni.isaac.lab.sensors.Camera.cfg:1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensor.cfg:1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformer.cfg:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCaster.cfg:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCamera.cfg:1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCamera.cfg:1 +msgid "The configuration parameters." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`UNSUPPORTED_TYPES `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: ../../docstring of omni.isaac.lab.sensors.Camera.UNSUPPORTED_TYPES:1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCamera.UNSUPPORTED_TYPES:1 +msgid "The set of sensor types that are not supported by the camera class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`num_instances `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`frame `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.frame:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.frame:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.frame:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid "Frame number when the measurement took place." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`render_product_paths `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.render_product_paths:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.render_product_paths:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid "The path of the render products for the cameras." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`image_shape `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.image_shape:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.image_shape:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.image_shape:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +#: ../../docstring of omni.isaac.lab.sensors.CameraData.image_shape:1 +msgid "A tuple containing (height, width) of the camera sensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`is_initialized `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.__init__:1 +msgid "Initializes the camera sensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.cfg:1::1 +msgid ":py:obj:`set_intrinsic_matrices `\\ \\(matrices\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:1 +msgid "Set parameters of the USD camera from its intrinsic matrix." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.cfg:1::1 +msgid ":py:obj:`set_world_poses `\\ \\(\\[positions\\, orientations\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +msgid "Set the pose of the camera w.r.t." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.cfg:1::1 +msgid ":py:obj:`set_world_poses_from_view `\\ \\(eyes\\, targets\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view:1 +msgid "Set the poses of the camera from the eye position and look-at target position." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.cfg:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.__init__:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.__init__:5 +msgid "If no camera prim is found at the given path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.__init__:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.__init__:6 +msgid "If the provided data types are not supported by the camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.Camera.render_product_paths:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.render_product_paths:3 +msgid "This can be used via replicator interfaces to attach to writes or external annotator registry." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:3 +msgid "The intrinsic matrix and focal length are used to set the following parameters to the USD camera:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:5 +msgid "``focal_length``: The focal length of the camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:6 +msgid "``horizontal_aperture``: The horizontal aperture of the camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:7 +msgid "``vertical_aperture``: The vertical aperture of the camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:8 +msgid "``horizontal_aperture_offset``: The horizontal offset of the camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:9 +msgid "``vertical_aperture_offset``: The vertical offset of the camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:13 +msgid "Due to limitations of Omniverse camera, we need to assume that the camera is a spherical lens, i.e. has square pixels, and the optical center is centered at the camera eye. If this assumption is not true in the input intrinsic matrix, then the camera will not set up correctly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_intrinsic_matrices:3 +msgid "The intrinsic matrices for the camera. Shape is (N, 3, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_intrinsic_matrices:4 +msgid "Focal length to use when computing aperture values. Defaults to 1.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:19 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:19 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_intrinsic_matrices:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view:5 +msgid "A sensor ids to manipulate. Defaults to None, which means all sensor indices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:1 +msgid "Set the pose of the camera w.r.t. the world frame using specified convention." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:3 +msgid "Since different fields use different conventions for camera orientations, the method allows users to set the camera poses in the specified convention. Possible conventions are:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:6 +msgid ":obj:`\"opengl\"` - forward axis: -Z - up axis +Y - Offset is applied in the OpenGL (Usd.Camera) convention" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:7 +msgid ":obj:`\"ros\"` - forward axis: +Z - up axis -Y - Offset is applied in the ROS convention" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:8 +msgid ":obj:`\"world\"` - forward axis: +X - up axis +Z - Offset is applied in the World Frame convention" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:10 +msgid "See :meth:`omni.isaac.lab.sensors.camera.utils.convert_orientation_convention` for more details on the conventions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:13 +msgid "The cartesian coordinates (in meters). Shape is (N, 3). Defaults to None, in which case the camera position in not changed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:15 +msgid "The quaternion orientation in (w, x, y, z). Shape is (N, 4). Defaults to None, in which case the camera orientation in not changed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:18 +msgid "The convention in which the poses are fed. Defaults to \"ros\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view:7 +msgid "If the camera prim is not set. Need to call :meth:`initialize` method first." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:3 +msgid "The positions of the camera's eye. Shape is (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view:4 +msgid "The target locations to look at. Shape is (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view:8 +msgid "If the stage up-axis is not \"Y\" or \"Z\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid ":py:obj:`pos_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +#: ../../docstring of omni.isaac.lab.sensors.CameraData.pos_w:1 +msgid "Position of the sensor origin in world frame, following ROS convention." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid ":py:obj:`quat_w_world `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +#: ../../docstring of omni.isaac.lab.sensors.CameraData.quat_w_world:1 +msgid "Quaternion orientation `(w, x, y, z)` of the sensor origin in world frame, following the world coordinate frame" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid ":py:obj:`image_shape `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid ":py:obj:`intrinsic_matrices `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +#: ../../docstring of omni.isaac.lab.sensors.CameraData.intrinsic_matrices:1 +msgid "The intrinsic matrices for the camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid ":py:obj:`output `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +#: ../../docstring of omni.isaac.lab.sensors.CameraData.output:1 +msgid "The retrieved sensor data with sensor types as key." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid ":py:obj:`info `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +#: ../../docstring of omni.isaac.lab.sensors.CameraData.info:1 +msgid "The retrieved sensor info with sensor types as key." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid ":py:obj:`quat_w_ros `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.quat_w_ros:1 +msgid "Quaternion orientation `(w, x, y, z)` of the sensor origin in the world frame, following ROS convention." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid ":py:obj:`quat_w_opengl `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.quat_w_opengl:1 +msgid "Quaternion orientation `(w, x, y, z)` of the sensor origin in the world frame, following Opengl / USD Camera convention." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.pos_w:3 +msgid "Shape is (N, 3) where N is the number of sensors." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.quat_w_world:4 +msgid "World frame convention follows the camera aligned with forward axis +X and up axis +Z." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.quat_w_opengl:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.quat_w_ros:6 +#: ../../docstring of omni.isaac.lab.sensors.CameraData.quat_w_world:6 +msgid "Shape is (N, 4) where N is the number of sensors." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.intrinsic_matrices:3 +msgid "Shape is (N, 3, 3) where N is the number of sensors." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.output:3 +msgid "The format of the data is available in the `Replicator Documentation`_. For semantic-based data, this corresponds to the ``\"data\"`` key in the output of the sensor." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.info:3 +msgid "This contains extra information provided by the sensor such as semantic segmentation label mapping, prim paths. For semantic-based data, this corresponds to the ``\"info\"`` key in the output of the sensor. For other sensor types, the info is empty." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.quat_w_ros:4 +msgid "ROS convention follows the camera aligned with forward axis +Z and up axis -Y." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_data.py:docstring of omni.isaac.lab.sensors.CameraData.quat_w_opengl:5 +msgid "OpenGL convention follows the camera aligned with forward axis -Z and up axis +Y." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor_cfg.ContactSensorCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sensors.sensor_base_cfg.SensorBaseCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg:1 +msgid "**Classes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg:1::1 +msgid ":py:obj:`OffsetCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg:1::1 +msgid "The offset pose of the sensor's frame from the sensor's parent frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`spawn `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.spawn:1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.spawn:1 +msgid "Spawn configuration for the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`data_types `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg:1::1 +msgid "List of sensor names/types to enable for the camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.width:1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.width:1 +msgid "Width of the image in pixels." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`height `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.height:1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.height:1 +msgid "Height of the image in pixels." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`semantic_filter `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid "A string or a list specifying a semantic filter predicate." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`colorize_semantic_segmentation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid "Whether to colorize the semantic segmentation images." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`colorize_instance_id_segmentation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid "Whether to colorize the instance ID segmentation images." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`colorize_instance_segmentation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`pos `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.OffsetCfg.pos:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos:1::1 +msgid "Translation w.r.t." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`rot `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.OffsetCfg.pos:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos:1::1 +msgid "Quaternion rotation (w, x, y, z) w.r.t." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`convention `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py:docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos:1::1 +msgid "The convention in which the frame offset is applied." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos:1 +#: ../../docstring of omni.isaac.lab.sensors.OffsetCfg.pos:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos:1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos:1 +msgid "Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.rot:1 +#: ../../docstring of omni.isaac.lab.sensors.OffsetCfg.rot:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.rot:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.rot:1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.rot:1 +msgid "Quaternion rotation (w, x, y, z) w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention:1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention:1 +msgid "The convention in which the frame offset is applied. Defaults to \"ros\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention:3 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention:3 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention:3 +msgid "``\"opengl\"`` - forward axis: ``-Z`` - up axis: ``+Y`` - Offset is applied in the OpenGL (Usd.Camera) convention." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention:4 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention:4 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention:4 +msgid "``\"ros\"`` - forward axis: ``+Z`` - up axis: ``-Y`` - Offset is applied in the ROS convention." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention:5 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention:5 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention:5 +msgid "``\"world\"`` - forward axis: ``+X`` - up axis: ``+Z`` - Offset is applied in the World Frame convention." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.offset:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.offset:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.offset:1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.offset:1 +msgid "The offset pose of the sensor's frame from the sensor's parent frame. Defaults to identity." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.offset:5 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.offset:5 +msgid "The parent frame is the frame the sensor attaches to. For example, the parent frame of a camera at path ``/World/envs/env_0/Robot/Camera`` is ``/World/envs/env_0/Robot``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.spawn:3 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.spawn:3 +msgid "If None, then the prim is not spawned by the asset. Instead, it is assumed that the asset is already present in the scene." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.data_types:1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.data_types:1 +msgid "List of sensor names/types to enable for the camera. Defaults to [\"rgb\"]." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.data_types:3 +msgid "Please refer to the :class:`Camera` class for a list of available data types." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.semantic_filter:1 +msgid "A string or a list specifying a semantic filter predicate. Defaults to ``\"*:*\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.semantic_filter:3 +msgid "If a string, it should be a disjunctive normal form of (semantic type, labels). For examples:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.semantic_filter:5 +msgid "``\"typeA : labelA & !labelB | labelC , typeB: labelA ; typeC: labelE\"``: All prims with semantic type \"typeA\" and label \"labelA\" but not \"labelB\" or with label \"labelC\". Also, all prims with semantic type \"typeB\" and label \"labelA\", or with semantic type \"typeC\" and label \"labelE\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.semantic_filter:8 +msgid "``\"typeA : * ; * : labelA\"``: All prims with semantic type \"typeA\" or with label \"labelA\"" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.semantic_filter:10 +msgid "If a list of strings, each string should be a semantic type. The segmentation for prims with semantics of the specified types will be retrieved. For example, if the list is [\"class\"], only the segmentation for prims with semantics of type \"class\" will be retrieved." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.semantic_filter:16 +msgid "For more information on the semantics filter, see the documentation on `Replicator Semantics Schema Editor`_." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation:1 +msgid "Whether to colorize the semantic segmentation images. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation:3 +msgid "If True, semantic segmentation is converted to an image where semantic IDs are mapped to colors and returned as a ``uint8`` 4-channel array. If False, the output is returned as a ``int32`` array." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation:1 +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation:1 +msgid "Whether to colorize the instance ID segmentation images. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation:3 +msgid "If True, instance id segmentation is converted to an image where instance IDs are mapped to colors. and returned as a ``uint8`` 4-channel array. If False, the output is returned as a ``int32`` array." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation:3 +msgid "If True, instance segmentation is converted to an image where instance IDs are mapped to colors. and returned as a ``uint8`` 4-channel array. If False, the output is returned as a ``int32`` array." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:65 +msgid "Tile-Rendered USD Camera" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sensors.camera.camera.Camera`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:3 +msgid "This class inherits from the :class:`Camera` class but uses the tiled-rendering API from Replicator to acquire the visual data. Tiled-rendering concatenates the rendered images from multiple cameras into a single image. This allows for rendering multiple cameras in parallel and is useful for rendering large scenes with multiple cameras efficiently." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:8 +msgid "The following sensor types are supported:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:11 +msgid "``\"depth\"``: An image containing the distance to camera optical center." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:14 +msgid "Please note that the fidelity of RGB images may be lower than the standard camera sensor due to the tiled rendering process. Various ray tracing effects such as reflections, refractions, and shadows may not be accurately captured in the RGB images. We are currently working on improving the fidelity of the RGB images." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:20 +msgid "This feature is available starting from Isaac Sim 4.0. Before this version, the tiled rendering APIs were not available." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`SUPPORTED_TYPES `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: ../../docstring of omni.isaac.lab.sensors.TiledCamera.SUPPORTED_TYPES:1 +msgid "The set of sensor types that are supported." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`UNSUPPORTED_TYPES `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`frame `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`image_shape `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`is_initialized `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`num_instances `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`render_product_paths `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.__init__:1 +msgid "Initializes the tiled camera sensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +msgid ":py:obj:`set_intrinsic_matrices `\\ \\(matrices\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +msgid ":py:obj:`set_world_poses `\\ \\(\\[positions\\, orientations\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera.py:docstring of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +msgid ":py:obj:`set_world_poses_from_view `\\ \\(eyes\\, targets\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg:1::1 +msgid ":py:obj:`OffsetCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`spawn `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`data_types `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`height `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`return_latest_camera_pose `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid "Whether to return the latest camera pose when fetching the camera's data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`pos `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`rot `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py:docstring of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`convention `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.data_types:3 +msgid "Please refer to the :class:`TiledCamera` class for a list of available data types." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.return_latest_camera_pose:1 +msgid "Whether to return the latest camera pose when fetching the camera's data. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.return_latest_camera_pose:3 +msgid "If True, the latest camera pose is returned in the camera's data which will slow down performance due to the use of :class:`XformPrimView`. If False, the pose of the camera during initialization is returned." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:3 +msgid "The contact sensor reports the normal contact forces on a rigid body in the world frame. It relies on the `PhysX ContactReporter`_ API to be activated on the rigid bodies." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:6 +msgid "To enable the contact reporter on a rigid body, please make sure to enable the :attr:`omni.isaac.lab.sim.spawner.RigidObjectSpawnerCfg.activate_contact_sensors` on your asset spawner configuration. This will enable the contact reporter on all the rigid bodies in the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:11 +msgid "The sensor can be configured to report the contact forces on a set of bodies with a given filter pattern. Please check the documentation on `RigidContactView`_ for more details." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`num_instances `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`num_bodies `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.num_bodies:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid "Number of bodies with contact sensors attached." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`body_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.body_names:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid "Ordered names of bodies with contact sensors attached." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`body_physx_view `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.body_physx_view:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid "View for the rigid bodies captured (PhysX)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`contact_physx_view `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.contact_physx_view:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid "Contact reporter view for the bodies (PhysX)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`is_initialized `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.__init__:1 +msgid "Initializes the contact sensor object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +msgid ":py:obj:`find_bodies `\\ \\(name\\_keys\\[\\, preserve\\_order\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.find_bodies:1 +msgid "Find bodies in the articulation based on the name keys." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +msgid ":py:obj:`compute_first_contact `\\ \\(dt\\[\\, abs\\_tol\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:1 +msgid "Checks if bodies that have established contact within the last :attr:`dt` seconds." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +msgid ":py:obj:`compute_first_air `\\ \\(dt\\[\\, abs\\_tol\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:1 +msgid "Checks if bodies that have broken contact within the last :attr:`dt` seconds." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.body_physx_view:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.ContactSensor.contact_physx_view:3 +msgid "Use this view with caution. It requires handling of tensors in a specific way." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.find_bodies:3 +msgid "A regular expression or a list of regular expressions to match the body names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.find_bodies:4 +msgid "Whether to preserve the order of the name keys in the output. Defaults to False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.find_bodies:6 +msgid "A tuple of lists containing the body indices and names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:3 +msgid "This function checks if the bodies have established contact within the last :attr:`dt` seconds by comparing the current contact time with the given time period. If the contact time is less than the given time period, then the bodies are considered to be in contact." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:9 +msgid "The function assumes that :attr:`dt` is a factor of the sensor update time-step. In other words :math:`dt / dt_sensor = n`, where :math:`n` is a natural number. This is always true if the sensor is updated by the physics or the environment stepping time-step and the sensor is read by the environment stepping time-step." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:14 +msgid "The time period since the contact was established." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:15 +msgid "The absolute tolerance for the comparison." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:17 +msgid "A boolean tensor indicating the bodies that have established contact within the last :attr:`dt` seconds. Shape is (N, B), where N is the number of sensors and B is the number of bodies in each sensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:21 +msgid "If the sensor is not configured to track contact time." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:3 +msgid "This function checks if the bodies have broken contact within the last :attr:`dt` seconds by comparing the current air time with the given time period. If the air time is less than the given time period, then the bodies are considered to not be in contact." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:9 +msgid "It assumes that :attr:`dt` is a factor of the sensor update time-step. In other words, :math:`dt / dt_sensor = n`, where :math:`n` is a natural number. This is always true if the sensor is updated by the physics or the environment stepping time-step and the sensor is read by the environment stepping time-step." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:14 +msgid "The time period since the contract is broken." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor.py:docstring of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:17 +msgid "A boolean tensor indicating the bodies that have broken contact within the last :attr:`dt` seconds. Shape is (N, B), where N is the number of sensors and B is the number of bodies in each sensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid ":py:obj:`pos_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_data.py:docstring of omni.isaac.lab.sensors.RayCasterData.pos_w:1::1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterData.pos_w:1 +msgid "Position of the sensor origin in world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid ":py:obj:`quat_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_data.py:docstring of omni.isaac.lab.sensors.RayCasterData.pos_w:1::1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.quat_w:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterData.quat_w:1 +msgid "Orientation of the sensor origin in quaternion (w, x, y, z) in world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid ":py:obj:`net_forces_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.net_forces_w:1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.net_forces_w_history:1 +msgid "The net contact forces in world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid ":py:obj:`net_forces_w_history `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid ":py:obj:`force_matrix_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.force_matrix_w:1 +msgid "The contact forces filtered between the sensor bodies and filtered bodies in world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid ":py:obj:`last_air_time `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.last_air_time:1 +msgid "Time spent (in s) in the air before the last contact." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid ":py:obj:`current_air_time `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.current_air_time:1 +msgid "Time spent (in s) in the air since the last detach." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid ":py:obj:`last_contact_time `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.last_contact_time:1 +msgid "Time spent (in s) in contact before the last detach." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid ":py:obj:`current_contact_time `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_data.py:docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.current_contact_time:1 +msgid "Time spent (in s) in contact since the last contact." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:3 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterData.pos_w:3 +msgid "Shape is (N, 3), where N is the number of sensors." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:5 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.quat_w:5 +msgid "If the :attr:`ContactSensorCfg.track_pose` is False, then this qunatity is None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.quat_w:3 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterData.quat_w:3 +msgid "Shape is (N, 4), where N is the number of sensors." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.net_forces_w:3 +msgid "Shape is (N, B, 3), where N is the number of sensors and B is the number of bodies in each sensor." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.net_forces_w_history:3 +msgid "Shape is (N, T, B, 3), where N is the number of sensors, T is the configured history length and B is the number of bodies in each sensor." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.net_forces_w_history:6 +msgid "In the history dimension, the first index is the most recent and the last index is the oldest." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.force_matrix_w:3 +msgid "Shape is (N, B, M, 3), where N is the number of sensors, B is number of bodies in each sensor and ``M`` is the number of filtered bodies." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.force_matrix_w:6 +msgid "If the :attr:`ContactSensorCfg.filter_prim_paths_expr` is empty, then this quantity is None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.current_air_time:3 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.current_contact_time:3 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.last_air_time:3 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.last_contact_time:3 +msgid "Shape is (N, B), where N is the number of sensors and B is the number of bodies in each sensor." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.current_air_time:5 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.current_contact_time:5 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.last_air_time:5 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.last_contact_time:5 +msgid "If the :attr:`ContactSensorCfg.track_air_time` is False, then this quantity is None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py:docstring of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid ":py:obj:`track_pose `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py:docstring of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid "Whether to track the pose of the sensor's origin." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py:docstring of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid ":py:obj:`track_air_time `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py:docstring of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid "Whether to track the air/contact time of the bodies (time between contacts)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py:docstring of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid ":py:obj:`force_threshold `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py:docstring of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.force_threshold:1 +msgid "The threshold on the norm of the contact force that determines whether two bodies are in collision or not." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py:docstring of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid ":py:obj:`filter_prim_paths_expr `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py:docstring of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid "The list of primitive paths (or expressions) to filter contacts with." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py:docstring of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid ":py:obj:`visualizer_cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/contact_sensor/contact_sensor_cfg.py:docstring of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid "The configuration object for the visualization markers." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1 +msgid "Whether to track the pose of the sensor's origin. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.track_air_time:1 +msgid "Whether to track the air/contact time of the bodies (time between contacts). Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.force_threshold:3 +msgid "This value is only used for tracking the mode duration (the time in contact or in air), if :attr:`track_air_time` is True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr:1 +msgid "The list of primitive paths (or expressions) to filter contacts with. Defaults to an empty list, in which case no filtering is applied." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr:4 +msgid "The contact sensor allows reporting contacts between the primitive specified with :attr:`prim_path` and other primitives in the scene. For instance, in a scene containing a robot, a ground plane and an object, you can obtain individual contact reports of the base of the robot with the ground plane and the object." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr:9 +msgid "The expression in the list can contain the environment namespace regex ``{ENV_REGEX_NS}`` which will be replaced with the environment namespace." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr:12 +msgid "Example: ``{ENV_REGEX_NS}/Object`` will be replaced with ``/World/envs/env_.*/Object``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.visualizer_cfg:1 +msgid "The configuration object for the visualization markers. Defaults to CONTACT_SENSOR_MARKER_CFG." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.visualizer_cfg:4 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.visualizer_cfg:3 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.visualizer_cfg:3 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.visualizer_cfg:3 +msgid "This attribute is only used when debug visualization is enabled." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:3 +msgid "This class provides an interface for reporting the transform of one or more frames (target frames) with respect to another frame (source frame). The source frame is specified by the user as a prim path (:attr:`FrameTransformerCfg.prim_path`) and the target frames are specified by the user as a list of prim paths (:attr:`FrameTransformerCfg.target_frames`)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:8 +msgid "The source frame and target frames are assumed to be rigid bodies. The transform of the target frames with respect to the source frame is computed by first extracting the transform of the source frame and target frames from the physics engine and then computing the relative transform between the two." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:12 +msgid "Additionally, the user can specify an offset for the source frame and each target frame. This is useful for specifying the transform of the desired frame with respect to the body's center of mass, for instance." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:15 +msgid "A common example of using this sensor is to track the position and orientation of the end effector of a robotic manipulator. In this case, the source frame would be the body corresponding to the base frame of the manipulator, and the target frame would be the body corresponding to the end effector. Since the end-effector is typically a fictitious body, the user may need to specify an offset from the end-effector to the body of the manipulator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:23 +msgid "Currently, this implementation only handles frames within an articulation. This is because the frame regex expressions are resolved based on their parent prim path. This can be extended to handle frames outside of articulation by using the frame prim path instead. However, this would require additional checks to ensure that the user-specified frames are valid which is not currently implemented." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:30 +msgid "The implementation assumes that the parent body of a target frame is not the same as that of the source frame (i.e. :attr:`FrameTransformerCfg.prim_path`). While a corner case, this can occur if the user specifies the same prim path for both the source frame and target frame. In this case, the target frame will be ignored and not reported. This is a limitation of the current implementation and will be fixed in a future release." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +msgid ":py:obj:`is_initialized `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +msgid ":py:obj:`num_instances `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer.__init__:1 +msgid "Initializes the frame transformer object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py:docstring of omni.isaac.lab.sensors.FrameTransformer.cfg:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid ":py:obj:`target_frame_names `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1 +msgid "Target frame names (this denotes the order in which that frame data is ordered)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid ":py:obj:`target_pos_source `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerData.target_pos_source:1 +msgid "Position of the target frame(s) relative to source frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid ":py:obj:`target_quat_source `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerData.target_quat_source:1 +msgid "Orientation of the target frame(s) relative to source frame quaternion (w, x, y, z)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid ":py:obj:`target_pos_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerData.target_pos_w:1 +msgid "Position of the target frame(s) after offset (in world frame)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid ":py:obj:`target_quat_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerData.target_quat_w:1 +msgid "Orientation of the target frame(s) after offset (in world frame) quaternion (w, x, y, z)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid ":py:obj:`source_pos_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerData.source_pos_w:1 +msgid "Position of the source frame after offset (in world frame)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid ":py:obj:`source_quat_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerData.source_quat_w:1 +msgid "Orientation of the source frame after offset (in world frame) quaternion (w, x, y, z)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid ":py:obj:`target_rot_source `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_rot_source:1 +msgid "Alias for :attr:`target_quat_source`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid ":py:obj:`target_rot_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_rot_w:1 +msgid "Alias for :attr:`target_quat_w`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid ":py:obj:`source_rot_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.source_rot_w:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "Alias for :attr:`source_quat_w`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:3 +msgid "The frame names are resolved from the :attr:`FrameTransformerCfg.FrameCfg.name` field. This usually follows the order in which the frames are defined in the config. However, in the case of regex matching, the order may be different." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerData.target_pos_source:3 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerData.target_pos_w:3 +msgid "Shape is (N, M, 3), where N is the number of environments, and M is the number of target frames." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerData.target_quat_source:3 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerData.target_quat_w:3 +msgid "Shape is (N, M, 4), where N is the number of environments, and M is the number of target frames." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerData.source_pos_w:3 +msgid "Shape is (N, 3), where N is the number of environments." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerData.source_quat_w:3 +msgid "Shape is (N, 4), where N is the number of environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_rot_source:3 +msgid "Use :attr:`target_quat_source` instead. Will be removed in v0.3.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.target_rot_w:3 +msgid "Use :attr:`target_quat_w` instead. Will be removed in v0.3.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_data.py:docstring of omni.isaac.lab.sensors.FrameTransformerData.source_rot_w:3 +msgid "Use :attr:`source_quat_w` instead. Will be removed in v0.3.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg:1::1 +msgid ":py:obj:`FrameCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg:1::1 +msgid "Information specific to a coordinate frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +msgid ":py:obj:`prim_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.prim_path:1 +msgid "The prim path of the body to transform from (source frame)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +msgid ":py:obj:`source_frame_offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.source_frame_offset:1 +msgid "The pose offset from the source prim frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +msgid ":py:obj:`target_frames `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.target_frames:1 +msgid "A list of the target frames." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +msgid ":py:obj:`visualizer_cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:1::1 +msgid ":py:obj:`prim_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:1::1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:1 +msgid "The prim path corresponding to the parent rigid body." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:1::1 +msgid ":py:obj:`name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:1::1 +msgid "User-defined name for the new coordinate frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:1::1 +msgid ":py:obj:`offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:1::1 +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.offset:1 +msgid "The pose offset from the parent prim frame." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:3 +msgid "This prim should be part of the same articulation as :attr:`FrameTransformerCfg.prim_path`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.name:1 +msgid "User-defined name for the new coordinate frame. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.name:3 +msgid "If None, then the name is extracted from the leaf of the prim path." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.target_frames:3 +msgid "This allows a single FrameTransformer to handle multiple target prims. For example, in a quadruped, we can use a single FrameTransformer to track each foot's position and orientation in the body frame using four frame offsets." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.visualizer_cfg:1 +msgid "The configuration object for the visualization markers. Defaults to FRAME_MARKER_CFG." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.OffsetCfg:1 +msgid "The offset pose of one frame relative to another frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.OffsetCfg.pos:1::1 +msgid ":py:obj:`pos `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer_cfg.py:docstring of omni.isaac.lab.sensors.OffsetCfg.pos:1::1 +msgid ":py:obj:`rot `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:122 +msgid "Ray-Cast Sensor" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:3 +msgid "The ray-caster uses a set of rays to detect collisions with meshes in the scene. The rays are defined in the sensor's local coordinate frame. The sensor can be configured to ray-cast against a set of meshes with a given ray pattern." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:7 +msgid "The meshes are parsed from the list of primitive paths provided in the configuration. These are then converted to warp meshes and stored in the `warp_meshes` list. The ray-caster then ray-casts against these warp meshes using the ray pattern provided in the configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:17 +msgid "Currently, only static meshes are supported. Extending the warp mesh to support dynamic meshes is a work in progress." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +msgid ":py:obj:`meshes `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +#: ../../docstring of omni.isaac.lab.sensors.RayCaster.meshes:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCamera.meshes:1 +msgid "The warp meshes available for raycasting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +msgid ":py:obj:`num_instances `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +msgid ":py:obj:`is_initialized `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster.__init__:1 +msgid "Initializes the ray-caster object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py:docstring of omni.isaac.lab.sensors.RayCaster.cfg:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCaster.meshes:3 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCamera.meshes:3 +msgid "The keys correspond to the prim path for the meshes, and values are the corresponding warp Mesh objects." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCaster.meshes:5 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCamera.meshes:5 +msgid "We store a global dictionary of all warp meshes to prevent re-loading the mesh for different ray-cast sensor instances." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_data.py:docstring of omni.isaac.lab.sensors.RayCasterData.pos_w:1::1 +msgid ":py:obj:`pos_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_data.py:docstring of omni.isaac.lab.sensors.RayCasterData.pos_w:1::1 +msgid ":py:obj:`quat_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_data.py:docstring of omni.isaac.lab.sensors.RayCasterData.pos_w:1::1 +msgid ":py:obj:`ray_hits_w `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_data.py:docstring of omni.isaac.lab.sensors.RayCasterData.pos_w:1::1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterData.ray_hits_w:1 +msgid "The ray hit positions in the world frame." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCasterData.ray_hits_w:3 +msgid "Shape is (N, B, 3), where N is the number of sensors, B is the number of rays in the scan pattern per sensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg:1::1 +msgid ":py:obj:`OffsetCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid ":py:obj:`mesh_prim_paths `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.mesh_prim_paths:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.mesh_prim_paths:1 +msgid "The list of mesh primitive paths to ray cast against." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid ":py:obj:`offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid ":py:obj:`attach_yaw_only `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.attach_yaw_only:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.attach_yaw_only:1 +msgid "Whether the rays' starting positions and directions only track the yaw orientation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid ":py:obj:`pattern_cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.pattern_cfg:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.pattern_cfg:1 +msgid "The pattern that defines the local ray starting positions and directions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid ":py:obj:`max_distance `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid "Maximum distance (in meters) from the sensor to ray cast to." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid ":py:obj:`drift_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid "The range of drift (in meters) to add to the ray starting positions (xyz)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid ":py:obj:`visualizer_cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`pos `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_cfg.py:docstring of omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`rot `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.mesh_prim_paths:5 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.mesh_prim_paths:5 +msgid "Currently, only a single static mesh is supported. We are working on supporting multiple static meshes and dynamic meshes." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.attach_yaw_only:3 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.attach_yaw_only:3 +msgid "This is useful for ray-casting height maps, where only yaw rotation is needed." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.max_distance:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.max_distance:1 +msgid "Maximum distance (in meters) from the sensor to ray cast to. Defaults to 1e6." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.drift_range:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.drift_range:1 +msgid "The range of drift (in meters) to add to the ray starting positions (xyz). Defaults to (0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.drift_range:3 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.drift_range:3 +msgid "For floating base robots, this is useful for simulating drift in the robot's pose estimation." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.visualizer_cfg:1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCfg.visualizer_cfg:1 +msgid "The configuration object for the visualization markers. Defaults to RAY_CASTER_MARKER_CFG." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:141 +msgid "Ray-Cast Camera" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:3 +msgid "The ray-caster camera uses a set of rays to get the distances to meshes in the scene. The rays are defined in the sensor's local coordinate frame. The sensor has the same interface as the :class:`omni.isaac.lab.sensors.Camera` that implements the camera class through USD camera prims. However, this class provides a faster image generation. The sensor converts meshes from the list of primitive paths provided in the configuration to Warp meshes. The camera then ray-casts against these Warp meshes only." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:10 +msgid "Currently, only the following annotators are supported:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`UNSUPPORTED_TYPES `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCamera.UNSUPPORTED_TYPES:1 +msgid "A set of sensor types that are not supported by the ray-caster camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`image_shape `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`frame `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`is_initialized `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`meshes `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`num_instances `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.__init__:1 +msgid "Initializes the camera object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +msgid ":py:obj:`set_intrinsic_matrices `\\ \\(matrices\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_intrinsic_matrices:1 +msgid "Set the intrinsic matrix of the camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +msgid ":py:obj:`set_world_poses `\\ \\(\\[positions\\, orientations\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +msgid ":py:obj:`set_world_poses_from_view `\\ \\(eyes\\, targets\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.__init__:5 +msgid "If the provided data types are not supported by the ray-caster camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view:3 +msgid "The positions of the camera's eye. Shape is N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg:1::1 +msgid ":py:obj:`OffsetCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`data_types `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`pos `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`rot `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py:docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`convention `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.data_types:1 +msgid "List of sensor names/types to enable for the camera. Defaults to [\"distance_to_image_plane\"]." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.sim.converters.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.sim.converters.pot new file mode 100644 index 0000000000..a943a9a51d --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.sim.converters.pot @@ -0,0 +1,670 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:2 +msgid "omni.isaac.lab.sim.converters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/__init__.py:docstring of omni.isaac.lab.sim.converters:1 +msgid "Sub-module containing converters for converting various file types to USD." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/__init__.py:docstring of omni.isaac.lab.sim.converters:3 +msgid "In order to support direct loading of various file types into Omniverse, we provide a set of converters that can convert the file into a USD file. The converters are implemented as sub-classes of the :class:`AssetConverterBase` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/__init__.py:docstring of omni.isaac.lab.sim.converters:7 +msgid "The following converters are currently supported:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/__init__.py:docstring of omni.isaac.lab.sim.converters:9 +msgid ":class:`UrdfConverter`: Converts a URDF file into a USD file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/__init__.py:docstring of omni.isaac.lab.sim.converters:10 +msgid ":class:`MeshConverter`: Converts a mesh file into a USD file. This supports OBJ, STL and FBX files." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +msgid ":py:obj:`AssetConverterBase `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:1 +msgid "Base class for converting an asset file from different formats into USD format." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +msgid ":py:obj:`AssetConverterBaseCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base_cfg.AssetConverterBaseCfg:1 +msgid "The base configuration class for asset converters." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +msgid ":py:obj:`MeshConverter `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1 +msgid "Converter for a mesh file in OBJ / STL / FBX format to a USD file." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +msgid ":py:obj:`MeshConverterCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.mesh_converter_cfg.MeshConverterCfg:1 +msgid "The configuration class for MeshConverter." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +msgid ":py:obj:`UrdfConverter `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1 +msgid "Converter for a URDF description file to a USD file." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +msgid ":py:obj:`UrdfConverterCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.urdf_converter_cfg.UrdfConverterCfg:1 +msgid "The configuration class for UrdfConverter." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:18 +msgid "Asset Converter Base" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:3 +msgid "This class provides a common interface for converting an asset file into USD. It does not provide any implementation for the conversion. The derived classes must implement the :meth:`_convert_asset` method to provide the actual conversion." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:7 +msgid "The file conversion is lazy if the output directory (:obj:`AssetConverterBaseCfg.usd_dir`) is provided. In the lazy conversion, the USD file is re-generated only if:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:10 +msgid "The asset file is modified." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:11 +msgid "The configuration parameters are modified." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:12 +msgid "The USD file does not exist." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:14 +msgid "To override this behavior to force conversion, the flag :obj:`AssetConverterBaseCfg.force_usd_conversion` can be set to True." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:17 +msgid "When no output directory is defined, lazy conversion is deactivated and the generated USD file is stored in folder ``/tmp/IsaacLab/usd_{date}_{time}_{random}``, where the parameters in braces are generated at runtime. The random identifiers help avoid a race condition where two simultaneously triggered conversions try to use the same directory for reading/writing the generated files." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:23 +msgid "Changes to the parameters :obj:`AssetConverterBaseCfg.asset_path`, :obj:`AssetConverterBaseCfg.usd_dir`, and :obj:`AssetConverterBaseCfg.usd_file_name` are not considered as modifications in the configuration instance that trigger USD file re-generation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.MeshConverter.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.UrdfConverter.cfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter.__init__:1 +msgid "Initializes the class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base_cfg.AssetConverterBaseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.mesh_converter_cfg.MeshConverterCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.urdf_converter_cfg.UrdfConverterCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +msgid ":py:obj:`usd_dir `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBase.usd_dir:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.MeshConverter.usd_dir:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.UrdfConverter.usd_dir:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid "The absolute path to the directory where the generated USD files are stored." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +msgid ":py:obj:`usd_file_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBase.usd_file_name:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.MeshConverter.usd_file_name:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.UrdfConverter.usd_file_name:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid "The file name of the generated USD file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +msgid ":py:obj:`usd_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBase.usd_path:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.MeshConverter.usd_path:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.UrdfConverter.usd_path:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid "The absolute path to the generated USD file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +msgid ":py:obj:`usd_instanceable_meshes_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBase.usd_instanceable_meshes_path:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.MeshConverter.usd_instanceable_meshes_path:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.UrdfConverter.usd_instanceable_meshes_path:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid "The relative path to the USD file with meshes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter.__init__:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:3 +msgid "The configuration instance for converting an asset file to USD format." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:5 +msgid "When provided asset file does not exist." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBase.usd_instanceable_meshes_path:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.MeshConverter.usd_instanceable_meshes_path:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.UrdfConverter.usd_instanceable_meshes_path:3 +msgid "The path is with respect to the USD directory :attr:`usd_dir`. This is to ensure that the mesh references in the generated USD file are resolved relatively. Otherwise, it becomes difficult to move the USD asset to a different location." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid ":py:obj:`asset_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +#: ../../docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1 +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.asset_path:1 +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.asset_path:1 +msgid "The absolute path to the asset file to convert into USD." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid ":py:obj:`usd_dir `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid "The output directory path to store the generated USD file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid ":py:obj:`usd_file_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid "The name of the generated usd file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid ":py:obj:`force_usd_conversion `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid "Force the conversion of the asset file to usd." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid ":py:obj:`make_instanceable `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/asset_converter_base_cfg.py:docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid "Make the generated USD file instanceable." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir:1 +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.usd_dir:1 +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_dir:1 +msgid "The output directory path to store the generated USD file. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir:3 +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.usd_dir:3 +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_dir:3 +msgid "If None, it is resolved as ``/tmp/IsaacLab/usd_{date}_{time}_{random}``, where the parameters in braces are runtime generated." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name:1 +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.usd_file_name:1 +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_file_name:1 +msgid "The name of the generated usd file. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name:3 +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.usd_file_name:3 +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_file_name:3 +msgid "If None, it is resolved from the asset file name. For example, if the asset file name is ``\"my_asset.urdf\"``, then the generated USD file name is ``\"my_asset.usd\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name:6 +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.usd_file_name:6 +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_file_name:6 +msgid "If the providing file name does not end with \".usd\" or \".usda\", then the extension \".usd\" is appended to the file name." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion:1 +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.force_usd_conversion:1 +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.force_usd_conversion:1 +msgid "Force the conversion of the asset file to usd. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion:3 +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.force_usd_conversion:3 +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.force_usd_conversion:3 +msgid "If True, then the USD file is always generated. It will overwrite the existing USD file if it exists." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.make_instanceable:1 +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.make_instanceable:1 +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.make_instanceable:1 +msgid "Make the generated USD file instanceable. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.AssetConverterBaseCfg.make_instanceable:5 +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.make_instanceable:5 +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.make_instanceable:5 +msgid "Instancing helps reduce the memory footprint of the asset when multiple copies of the asset are used in the scene. For more information, please check the USD documentation on `scene-graph instancing `_." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:28 +msgid "Mesh Converter" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:3 +msgid "This class wraps around the `omni.kit.asset_converter`_ extension to provide a lazy implementation for mesh to USD conversion. It stores the output USD file in an instanceable format since that is what is typically used in all learning related applications." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:7 +msgid "To make the asset instanceable, we must follow a certain structure dictated by how USD scene-graph instancing and physics work. The rigid body component must be added to each instance and not the referenced asset (i.e. the prototype prim itself). This is because the rigid body component defines properties that are specific to each instance and cannot be shared under the referenced asset. For more information, please check the `documentation `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:13 +msgid "Due to the above, we follow the following structure:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:15 +msgid "``{prim_path}`` - The root prim that is an Xform with the rigid body and mass APIs if configured." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:16 +msgid "``{prim_path}/geometry`` - The prim that contains the mesh and optionally the materials if configured. If instancing is enabled, this prim will be an instanceable reference to the prototype prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:22 +msgid "When converting STL files, Z-up convention is assumed, even though this is not the default for many CAD export programs. Asset orientation convention can either be modified directly in the CAD program's export process or an offset can be added within the config in Isaac Lab." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverter.cfg:1 +msgid "The configuration instance for mesh to USD conversion." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +msgid ":py:obj:`usd_dir `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +msgid ":py:obj:`usd_file_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +msgid ":py:obj:`usd_instanceable_meshes_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +msgid ":py:obj:`usd_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py:docstring of omni.isaac.lab.sim.converters.MeshConverter.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.mesh_converter_cfg.MeshConverterCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.urdf_converter_cfg.UrdfConverterCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sim.converters.asset_converter_base_cfg.AssetConverterBaseCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid ":py:obj:`mass_props `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid "Mass properties to apply to the USD." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid ":py:obj:`rigid_props `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid "Rigid body properties to apply to the USD." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid ":py:obj:`collision_props `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid "Collision properties to apply to the USD." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid ":py:obj:`collision_approximation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid "Collision approximation method to use." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1 +msgid "Mass properties to apply to the USD. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:3 +msgid "If None, then no mass properties will be added." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.rigid_props:1 +msgid "Rigid body properties to apply to the USD. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.rigid_props:3 +msgid "If None, then no rigid body properties will be added." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.collision_props:1 +msgid "Collision properties to apply to the USD. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.collision_props:3 +msgid "If None, then no collision properties will be added." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.collision_approximation:1 +msgid "Collision approximation method to use. Defaults to \"convexDecomposition\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.collision_approximation:3 +msgid "Valid options are: \"convexDecomposition\", \"convexHull\", \"boundingCube\", \"boundingSphere\", \"meshSimplification\", or \"none\"" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverterCfg.collision_approximation:7 +msgid "\"none\" causes no collision mesh to be added." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:43 +msgid "URDF Converter" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:3 +msgid "This class wraps around the `omni.isaac.urdf_importer`_ extension to provide a lazy implementation for URDF to USD conversion. It stores the output USD file in an instanceable format since that is what is typically used in all learning related applications." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:8 +msgid "The current lazy conversion implementation does not automatically trigger USD generation if only the mesh files used by the URDF are modified. To force generation, either set :obj:`AssetConverterBaseCfg.force_usd_conversion` to True or delete the output directory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:13 +msgid "From Isaac Sim 2023.1 onwards, the extension name changed from ``omni.isaac.urdf`` to ``omni.importer.urdf``. This converter class automatically detects the version of Isaac Sim and uses the appropriate extension." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:17 +msgid "The new extension supports a custom XML tag``\"dont_collapse\"`` for joints. Setting this parameter to true in the URDF joint tag prevents the child link from collapsing when the associated joint type is \"fixed\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverter.cfg:1 +msgid "The configuration instance for URDF to USD conversion." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid ":py:obj:`usd_dir `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid ":py:obj:`usd_file_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid ":py:obj:`usd_instanceable_meshes_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid ":py:obj:`usd_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py:docstring of omni.isaac.lab.sim.converters.UrdfConverter.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid ":py:obj:`link_density `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "Default density used for links." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid ":py:obj:`import_inertia_tensor `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "Import the inertia tensor from urdf." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid ":py:obj:`convex_decompose_mesh `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "Decompose a convex mesh into smaller pieces for a closer fit." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid ":py:obj:`fix_base `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "Create a fix joint to the root/base link." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid ":py:obj:`merge_fixed_joints `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "Consolidate links that are connected by fixed joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid ":py:obj:`self_collision `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "Activate self-collisions between links of the articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid ":py:obj:`default_drive_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "The drive type used for joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid ":py:obj:`override_joint_dynamics `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "Override the joint dynamics parsed from the URDF file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid ":py:obj:`default_drive_stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "The default stiffness of the joint drive." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid ":py:obj:`default_drive_damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter_cfg.py:docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "The default damping of the joint drive." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1 +msgid "Default density used for links. Defaults to 0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:3 +msgid "This setting is only effective if ``\"inertial\"`` properties are missing in the URDF." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.import_inertia_tensor:1 +msgid "Import the inertia tensor from urdf. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.import_inertia_tensor:3 +msgid "If the ``\"inertial\"`` tag is missing, then it is imported as an identity." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.convex_decompose_mesh:1 +msgid "Decompose a convex mesh into smaller pieces for a closer fit. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.fix_base:1 +msgid "Create a fix joint to the root/base link. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.merge_fixed_joints:1 +msgid "Consolidate links that are connected by fixed joints. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.self_collision:1 +msgid "Activate self-collisions between links of the articulation. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type:1 +msgid "The drive type used for joints. Defaults to ``\"none\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type:3 +msgid "The drive type dictates the loaded joint PD gains and USD attributes for joint control:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type:5 +msgid "``\"none\"``: The joint stiffness and damping are set to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type:6 +msgid "``\"position\"``: The joint stiff and damping are set based on the URDF file or provided configuration." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type:7 +msgid "``\"velocity\"``: The joint stiff is set to zero and damping is based on the URDF file or provided configuration." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics:1 +msgid "Override the joint dynamics parsed from the URDF file. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_stiffness:1 +msgid "The default stiffness of the joint drive. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_damping:1 +msgid "The default damping of the joint drive. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_damping:5 +msgid "If ``override_joint_dynamics`` is True, the values parsed from the URDF joint tag ``\"\"`` are used. Otherwise, it is overridden by the configured value." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.sim.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.sim.pot new file mode 100644 index 0000000000..65e4d9177f --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.sim.pot @@ -0,0 +1,1523 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:2 +msgid "omni.isaac.lab.sim" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py:docstring of omni.isaac.lab.sim:1 +msgid "Sub-package containing simulation-specific functionalities." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py:docstring of omni.isaac.lab.sim:3 +msgid "These include:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py:docstring of omni.isaac.lab.sim:5 +msgid "Ability to spawn different objects and materials into Omniverse" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py:docstring of omni.isaac.lab.sim:6 +msgid "Define and modify various schemas on USD prims" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py:docstring of omni.isaac.lab.sim:7 +msgid "Converters to obtain USD file from other file formats (such as URDF, OBJ, STL, FBX)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py:docstring of omni.isaac.lab.sim:8 +msgid "Utility class to control the simulator" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py:docstring of omni.isaac.lab.sim:11 +msgid "Currently, only a subset of all possible schemas and prims in Omniverse are supported. We are expanding the these set of functions on a need basis. In case, there are specific prims or schemas that you would like to include, please open an issue on GitHub as a feature request elaborating on the required application." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py:docstring of omni.isaac.lab.sim:16 +msgid "To make it convenient to use the module, we recommend importing the module as follows:" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:7 +msgid "Submodules" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +msgid ":py:obj:`converters `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +msgid "Sub-module containing converters for converting various file types to USD." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +msgid ":py:obj:`schemas `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +msgid "Sub-module containing utilities for schemas used in Omniverse." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +msgid ":py:obj:`spawners `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +msgid "Sub-module containing utilities for creating prims in Omniverse." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +msgid ":py:obj:`utils `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils:1 +msgid "Sub-module with USD-related utilities." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:16 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:22::1 +msgid ":py:obj:`SimulationContext `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:22::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:1 +msgid "A class to control simulation-related events such as physics stepping and rendering." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:22::1 +msgid ":py:obj:`SimulationCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:22::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.simulation_cfg.SimulationCfg:1 +msgid "Configuration for simulation physics." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:22::1 +msgid ":py:obj:`PhysxCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:22::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.simulation_cfg.PhysxCfg:1 +msgid "Configuration for PhysX solver-related parameters." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:24 +msgid "Functions" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:27::1 +msgid ":py:obj:`simulation_context.build_simulation_context `\\ \\(\\[...\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:27::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:1 +msgid "Context manager to build a simulation context with the provided settings." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:30 +msgid "Simulation Context" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:1 +msgid "Bases: :py:class:`~omni.isaac.core.simulation_context.SimulationContext`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:3 +msgid "The simulation context helps control various simulation aspects. This includes:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:5 +msgid "configure the simulator with different settings such as the physics time-step, the number of physics substeps, and the physics solver parameters (for more information, see :class:`omni.isaac.lab.sim.SimulationCfg`)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:7 +msgid "playing, pausing, stepping and stopping the simulation" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:8 +msgid "adding and removing callbacks to different simulation events such as physics stepping, rendering, etc." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:10 +msgid "This class inherits from the :class:`omni.isaac.core.simulation_context.SimulationContext` class and adds additional functionalities such as setting up the simulation context with a configuration object, exposing other commonly used simulator-related functions, and performing version checks of Isaac Sim to ensure compatibility between releases." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:15 +msgid "The simulation context is a singleton object. This means that there can only be one instance of the simulation context at any given time. This is enforced by the parent class. Therefore, it is not possible to create multiple instances of the simulation context. Instead, the simulation context can be accessed using the ``instance()`` method." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:21 +msgid "Since we only support the `PyTorch `_ backend for simulation, the simulation context is configured to use the ``torch`` backend by default. This means that all the data structures used in the simulation are ``torch.Tensor`` objects." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:25 +msgid "The simulation context can be used in two different modes of operations:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:27 +msgid "**Standalone python script**: In this mode, the user has full control over the simulation and can trigger stepping events synchronously (i.e. as a blocking call). In this case the user has to manually call :meth:`step` step the physics simulation and :meth:`render` to render the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:31 +msgid "**Omniverse extension**: In this mode, the user has limited control over the simulation stepping and all the simulation events are triggered asynchronously (i.e. as a non-blocking call). In this case, the user can only trigger the simulation to start, pause, and stop. The simulation takes care of stepping the physics simulation and rendering the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:36 +msgid "Based on above, for most functions in this class there is an equivalent function that is suffixed with ``_async``. The ``_async`` functions are used in the Omniverse extension mode and the non-``_async`` functions are used in the standalone python script mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:1 +msgid "**Classes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:1::1 +msgid ":py:obj:`RenderMode `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:1::1 +msgid "Different rendering modes for the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\[cfg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.__init__:1 +msgid "Creates a simulation context to control the simulator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`has_gui `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.has_gui:1 +msgid "Returns whether the simulation has a GUI enabled." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`has_rtx_sensors `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.has_rtx_sensors:1 +msgid "Returns whether the simulation has any RTX-rendering related sensors." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`is_fabric_enabled `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.is_fabric_enabled:1 +msgid "Returns whether the fabric interface is enabled." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`get_version `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.get_version:1 +msgid "Returns the version of the simulator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`set_camera_view `\\ \\(eye\\, target\\[\\, camera\\_prim\\_path\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_camera_view:1 +msgid "Set the location and target of the viewport camera in the stage." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`set_render_mode `\\ \\(mode\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_render_mode:1 +msgid "Change the current render mode of the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`set_setting `\\ \\(name\\, value\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_setting:1 +msgid "Set simulation settings using the Carbonite SDK." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`get_setting `\\ \\(name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.get_setting:1 +msgid "Read the simulation setting using the Carbonite SDK." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`step `\\ \\(\\[render\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.step:1 +msgid "Steps the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`render `\\ \\(\\[mode\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.render:1 +msgid "Refreshes the rendering components including UI elements and view-ports depending on the render mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1 +msgid "Bases: :py:class:`~enum.IntEnum`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:3 +msgid "Render modes correspond to how the viewport and other UI elements (such as listeners to keyboard or mouse events) are updated. There are three main components that can be updated when the simulation is rendered:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:6 +msgid "**UI elements and other extensions**: These are UI elements (such as buttons, sliders, etc.) and other extensions that are running in the background that need to be updated when the simulation is running." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:8 +msgid "**Cameras**: These are typically based on Hydra textures and are used to render the scene from different viewpoints. They can be attached to a viewport or be used independently to render the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:10 +msgid "**Viewports**: These are windows where you can see the rendered scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:12 +msgid "Updating each of the above components has a different overhead. For example, updating the viewports is computationally expensive compared to updating the UI elements. Therefore, it is useful to be able to control what is updated when the simulation is rendered. This is where the render mode comes in. There are four different render modes:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:17 +msgid ":attr:`NO_GUI_OR_RENDERING`: The simulation is running without a GUI and off-screen rendering flag is disabled, so none of the above are updated." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:19 +msgid ":attr:`NO_RENDERING`: No rendering, where only 1 is updated at a lower rate." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:20 +msgid ":attr:`PARTIAL_RENDERING`: Partial rendering, where only 1 and 2 are updated." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:21 +msgid ":attr:`FULL_RENDERING`: Full rendering, where everything (1, 2, 3) is updated." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.simulation_cfg.PhysxCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.simulation_cfg.SimulationCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`NO_GUI_OR_RENDERING `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../docstring of omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1 +msgid "The simulation is running without a GUI and off-screen rendering is disabled." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`NO_RENDERING `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../docstring of omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING:1 +msgid "No rendering, where only other UI elements are updated at a lower rate." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`PARTIAL_RENDERING `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../docstring of omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING:1 +msgid "Partial rendering, where the simulation cameras and UI elements are updated." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`FULL_RENDERING `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: ../../docstring of omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING:1 +msgid "Full rendering, where all the simulation viewports, cameras and UI elements are updated." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1::1 +msgid ":py:obj:`__new__ `\\ \\(value\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.get_setting:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.render:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_camera_view:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_render_mode:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_setting:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.step:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.apply_nested:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_physics_material:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_visual_material:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.clone:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.export_prim_to_file:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_first_matching_prim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prim_paths:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prims:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_all_matching_child_prims:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_first_matching_child_prim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.make_uninstanceable:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.select_usd_variants:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.__init__:3 +msgid "The configuration of the simulation. Defaults to None, in which case the default configuration is used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.has_gui:3 +msgid "True if the simulation has a GUI enabled either locally or live-streamed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.has_rtx_sensors:3 +msgid "This function returns the value of the simulation parameter ``\"/isaaclab/render/rtx_sensors\"``. The parameter is set to True when instances of RTX-related sensors (cameras or LiDARs) are created using Isaac Lab's sensor classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.has_rtx_sensors:7 +msgid "True if the simulation has RTX sensors (such as USD Cameras or LiDARs)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.has_rtx_sensors:9 +msgid "For more information, please check `NVIDIA RTX documentation`_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.is_fabric_enabled:3 +msgid "When fabric interface is enabled, USD read/write operations are disabled. Instead all applications read and write the simulation state directly from the fabric interface. This reduces a lot of overhead that occurs during USD read/write operations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.is_fabric_enabled:7 +msgid "For more information, please check `Fabric documentation`_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.get_version:3 +msgid "This is a wrapper around the ``omni.isaac.version.get_version()`` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.get_version:5 +msgid "The returned tuple contains the following information:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.get_version:7 +msgid "Major version (int): This is the year of the release (e.g. 2022)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.get_version:8 +msgid "Minor version (int): This is the half-year of the release (e.g. 1 or 2)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.get_version:9 +msgid "Patch version (int): This is the patch number of the release (e.g. 0)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_camera_view:5 +msgid "This is a wrapper around the :math:`omni.isaac.core.utils.viewports.set_camera_view` function. It is provided here for convenience to reduce the amount of imports needed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_camera_view:8 +msgid "The location of the camera eye." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_camera_view:9 +msgid "The location of the camera target." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_camera_view:10 +msgid "The path to the camera primitive in the stage. Defaults to \"/OmniverseKit_Persp\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.render:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_render_mode:3 +msgid "Please see :class:`RenderMode` for more information on the different render modes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_render_mode:6 +msgid "When no GUI is available (locally or livestreamed), we do not need to choose whether the viewport needs to render or not (since there is no GUI). Thus, in this case, calling the function will not change the render mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_render_mode:10 +msgid "The rendering mode. If different than SimulationContext's rendering mode," +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_render_mode:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.apply_nested:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_physics_material:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_visual_material:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.export_prim_to_file:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_first_matching_prim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prim_paths:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prims:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_all_matching_child_prims:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_first_matching_child_prim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.make_uninstanceable:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.select_usd_variants:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_render_mode:14 +msgid "If the input mode is not supported." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_setting:4 +msgid "If the input setting name does not exist, it will be created. If it does exist, the value will be overwritten. Please make sure to use the correct setting name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_setting:7 +msgid "To understand the settings interface, please refer to the `Carbonite SDK `_ documentation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.get_setting:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_setting:11 +msgid "The name of the setting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.get_setting:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.set_setting:12 +msgid "The value of the setting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.get_setting:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.apply_nested:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.clone:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_first_matching_prim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prim_paths:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prims:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_all_matching_child_prims:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_first_matching_child_prim:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.step:4 +msgid "This function blocks if the timeline is paused. It only returns when the timeline is playing." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.step:6 +msgid "Whether to render the scene after stepping the physics simulation. If set to False, the scene is not rendered and only the physics simulation is stepped." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.render:3 +msgid "This function is used to refresh the rendering components of the simulation. This includes updating the view-ports, UI elements, and other extensions (besides physics simulation) that are running in the background. The rendering components are refreshed based on the render mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.SimulationContext.render:9 +msgid "The rendering mode. Defaults to None, in which case the current rendering mode is used." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:37 +msgid "Simulation Configuration" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.simulation_cfg.PhysxCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.simulation_cfg.SimulationCfg:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`physics_prim_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "The prim path where the USD PhysicsScene is created." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`dt `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "The physics simulation time-step (in seconds)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`render_interval `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "The number of physics simulation steps per rendering step." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`gravity `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "The gravity vector (in m/s^2)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`enable_scene_query_support `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "Enable/disable scene query support for collision shapes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`use_fabric `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "Enable/disable reading of physics buffers directly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`disable_contact_processing `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "Enable/disable contact processing." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`use_gpu_pipeline `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "Enable/disable GPU pipeline." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "The device for running the simulation/environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`physx `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "PhysX solver settings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`physics_material `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "Default physics material settings for rigid bodies." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1 +msgid "The prim path where the USD PhysicsScene is created. Default is \"/physicsScene\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.dt:1 +msgid "The physics simulation time-step (in seconds). Default is 0.0167 seconds." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.render_interval:1 +msgid "The number of physics simulation steps per rendering step. Default is 1." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.gravity:1 +msgid "The gravity vector (in m/s^2). Default is (0.0, 0.0, -9.81)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.gravity:3 +msgid "If set to (0.0, 0.0, 0.0), gravity is disabled." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support:1 +msgid "Enable/disable scene query support for collision shapes. Default is False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support:3 +msgid "This flag allows performing collision queries (raycasts, sweeps, and overlaps) on actors and attached shapes in the scene. This is useful for implementing custom collision detection logic outside of the physics engine." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support:7 +msgid "If set to False, the physics engine does not create the scene query manager and the scene query functionality will not be available. However, this provides some performance speed-up." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support:12 +msgid "This flag is overridden to True inside the :class:`SimulationContext` class when running the simulation with the GUI enabled. This is to allow certain GUI features to work properly." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.use_fabric:1 +msgid "Enable/disable reading of physics buffers directly. Default is True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.use_fabric:3 +msgid "When running the simulation, updates in the states in the scene is normally synchronized with USD. This leads to an overhead in reading the data and does not scale well with massive parallelization. This flag allows disabling the synchronization and reading the data directly from the physics buffers." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.use_fabric:7 +msgid "It is recommended to set this flag to :obj:`True` when running the simulation with a large number of primitives in the scene." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.use_fabric:12 +msgid "When enabled, the GUI will not update the physics parameters in real-time. To enable real-time updates, please set this flag to :obj:`False`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.disable_contact_processing:1 +msgid "Enable/disable contact processing. Default is False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.disable_contact_processing:3 +msgid "By default, the physics engine processes all the contacts in the scene. However, reporting this contact information can be expensive due to its combinatorial complexity. This flag allows disabling the contact processing and querying the contacts manually by the user over a limited set of primitives in the scene." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.disable_contact_processing:9 +msgid "It is required to set this flag to :obj:`True` when using the TensorAPIs for contact reporting." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.use_gpu_pipeline:1 +msgid "Enable/disable GPU pipeline. Default is True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.use_gpu_pipeline:3 +msgid "If set to False, the physics data will be read as CPU buffers." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.device:1 +msgid "The device for running the simulation/environment. Default is ``\"cuda:0\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.physx:1 +msgid "PhysX solver settings. Default is PhysxCfg()." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.physics_material:1 +msgid "Default physics material settings for rigid bodies. Default is RigidBodyMaterialCfg()." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.physics_material:3 +msgid "The physics engine defaults to this physics material for all the rigid body prims that do not have any physics material specified on them." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.physics_material:6 +msgid "The material is created at the path: ``{physics_prim_path}/defaultMaterial``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.simulation_cfg.PhysxCfg:3 +msgid "These parameters are used to configure the PhysX solver. For more information, see the `PhysX 5 SDK documentation`_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.simulation_cfg.PhysxCfg:6 +msgid "PhysX 5 supports GPU-accelerated physics simulation. This is enabled by default, but can be disabled through the flag `use_gpu`. Unlike CPU PhysX, the GPU simulation feature is not able to dynamically grow all the buffers. Therefore, it is necessary to provide a reasonable estimate of the buffer sizes for GPU features. If insufficient buffer sizes are provided, the simulation will fail with errors and lead to adverse behaviors. The buffer sizes can be adjusted through the `gpu_*` parameters." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`use_gpu `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Enable/disable GPU accelerated dynamics simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`solver_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.solver_type:1 +msgid "The type of solver to use.Default is 1 (TGS)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`min_position_iteration_count `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Minimum number of solver position iterations (rigid bodies, cloth, particles etc.)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`max_position_iteration_count `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Maximum number of solver position iterations (rigid bodies, cloth, particles etc.)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`min_velocity_iteration_count `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`max_velocity_iteration_count `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`enable_ccd `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Enable a second broad-phase pass that makes it possible to prevent objects from tunneling through each other." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`enable_stabilization `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Enable/disable additional stabilization pass in solver." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`enable_enhanced_determinism `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Enable/disable improved determinism at the expense of performance." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`bounce_threshold_velocity `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Relative velocity threshold for contacts to bounce (in m/s)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`friction_offset_threshold `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Threshold for contact point to experience friction force (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`friction_correlation_distance `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Distance threshold for merging contacts into a single friction anchor point (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`gpu_max_rigid_contact_count `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Size of rigid contact stream buffer allocated in pinned host memory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`gpu_max_rigid_patch_count `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Size of the rigid contact patch stream buffer allocated in pinned host memory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`gpu_found_lost_pairs_capacity `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Capacity of found and lost buffers allocated in GPU global memory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`gpu_found_lost_aggregate_pairs_capacity `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Capacity of found and lost buffers in aggregate system allocated in GPU global memory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`gpu_total_aggregate_pairs_capacity `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Capacity of total number of aggregate pairs allocated in GPU global memory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`gpu_collision_stack_size `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Size of the collision stack buffer allocated in pinned host memory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`gpu_heap_capacity `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Initial capacity of the GPU and pinned host memory heaps." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`gpu_temp_buffer_capacity `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Capacity of temp buffer allocated in pinned host memory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`gpu_max_num_partitions `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Limitation for the partitions in the GPU dynamics pipeline." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`gpu_max_soft_body_contacts `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Size of soft body contacts stream buffer allocated in pinned host memory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`gpu_max_particle_contacts `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_cfg.py:docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Size of particle contacts stream buffer allocated in pinned host memory." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1 +msgid "Enable/disable GPU accelerated dynamics simulation. Default is True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:3 +msgid "This enables GPU-accelerated implementations for broad-phase collision checks, contact generation, shape and body management, and constrained solver." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.solver_type:3 +msgid "Available solvers:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.solver_type:5 +msgid ":obj:`0`: PGS (Projective Gauss-Seidel)" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.solver_type:6 +msgid ":obj:`1`: TGS (Truncated Gauss-Seidel)" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.min_position_iteration_count:1 +msgid "Minimum number of solver position iterations (rigid bodies, cloth, particles etc.). Default is 1." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.max_position_iteration_count:5 +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.min_position_iteration_count:5 +msgid "Each physics actor in Omniverse specifies its own solver iteration count. The solver takes the number of iterations specified by the actor with the highest iteration and clamps it to the range ``[min_position_iteration_count, max_position_iteration_count]``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.max_position_iteration_count:1 +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.max_velocity_iteration_count:1 +msgid "Maximum number of solver position iterations (rigid bodies, cloth, particles etc.). Default is 255." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.min_velocity_iteration_count:1 +msgid "Minimum number of solver position iterations (rigid bodies, cloth, particles etc.). Default is 0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.max_velocity_iteration_count:5 +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.min_velocity_iteration_count:5 +msgid "Each physics actor in Omniverse specifies its own solver iteration count. The solver takes the number of iterations specified by the actor with the highest iteration and clamps it to the range ``[min_velocity_iteration_count, max_velocity_iteration_count]``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.enable_ccd:1 +msgid "Enable a second broad-phase pass that makes it possible to prevent objects from tunneling through each other. Default is False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.enable_stabilization:1 +msgid "Enable/disable additional stabilization pass in solver. Default is True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism:1 +msgid "Enable/disable improved determinism at the expense of performance. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism:3 +msgid "For more information on PhysX determinism, please check `here`_." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.bounce_threshold_velocity:1 +msgid "Relative velocity threshold for contacts to bounce (in m/s). Default is 0.5 m/s." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.friction_offset_threshold:1 +msgid "Threshold for contact point to experience friction force (in m). Default is 0.04 m." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.friction_correlation_distance:1 +msgid "Distance threshold for merging contacts into a single friction anchor point (in m). Default is 0.025 m." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_contact_count:1 +msgid "Size of rigid contact stream buffer allocated in pinned host memory. Default is 2 ** 23." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_patch_count:1 +msgid "Size of the rigid contact patch stream buffer allocated in pinned host memory. Default is 5 * 2 ** 15." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity:1 +msgid "Capacity of found and lost buffers allocated in GPU global memory. Default is 2 ** 21." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity:3 +msgid "This is used for the found/lost pair reports in the BP." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_aggregate_pairs_capacity:1 +msgid "Capacity of found and lost buffers in aggregate system allocated in GPU global memory. Default is 2 ** 25." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_aggregate_pairs_capacity:4 +msgid "This is used for the found/lost pair reports in AABB manager." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_total_aggregate_pairs_capacity:1 +msgid "Capacity of total number of aggregate pairs allocated in GPU global memory. Default is 2 ** 21." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_collision_stack_size:1 +msgid "Size of the collision stack buffer allocated in pinned host memory. Default is 2 ** 26." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_heap_capacity:1 +msgid "Initial capacity of the GPU and pinned host memory heaps. Additional memory will be allocated if more memory is required. Default is 2 ** 26." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_temp_buffer_capacity:1 +msgid "Capacity of temp buffer allocated in pinned host memory. Default is 2 ** 24." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_max_num_partitions:1 +msgid "Limitation for the partitions in the GPU dynamics pipeline. Default is 8." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_max_num_partitions:3 +msgid "This variable must be power of 2. A value greater than 32 is currently not supported. Range: (1, 32)" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_max_soft_body_contacts:1 +msgid "Size of soft body contacts stream buffer allocated in pinned host memory. Default is 2 ** 20." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_max_particle_contacts:1 +msgid "Size of particle contacts stream buffer allocated in pinned host memory. Default is 2 ** 20." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:50 +msgid "Simulation Context Builder" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:3 +msgid "This function facilitates the creation of a simulation context and provides flexibility in configuring various aspects of the simulation, such as time step, gravity, device, and scene elements like ground plane and lighting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:7 +msgid "If :attr:`sim_cfg` is None, then an instance of :class:`SimulationCfg` is created with default settings, with parameters overwritten based on arguments to the function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:10 +msgid "An example usage of the context manager function:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:22 +msgid "Whether to create a new stage. Defaults to True." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:23 +msgid "Whether to enable gravity in the simulation. Defaults to True." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:24 +msgid "Device to run the simulation on. Defaults to \"cuda:0\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:25 +msgid "Time step for the simulation: Defaults to 0.01." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:26 +msgid ":class:`omni.isaac.lab.sim.SimulationCfg` to use for the simulation. Defaults to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:27 +msgid "Whether to add a ground plane to the simulation. Defaults to False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:28 +msgid "Whether to add a dome light to the simulation. Defaults to False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:29 +msgid "Whether to automatically add a dome light to the simulation if the simulation has a GUI. Defaults to False. This is useful for debugging tests in the GUI." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:0 +msgid "Yields" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py:docstring of omni.isaac.lab.sim.simulation_context.build_simulation_context:32 +msgid "The simulation context to use for the simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:55 +msgid "Utilities" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils:1 +msgid "**Functions:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`safe_set_attribute_on_usd_schema `\\ \\(schema\\_api\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Set the value of an attribute on its USD schema if it exists." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`safe_set_attribute_on_usd_prim `\\ \\(prim\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Set the value of a attribute on its USD prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`apply_nested `\\ \\(func\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.apply_nested:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Decorator to apply a function to all prims under a specified prim-path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`clone `\\ \\(func\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.clone:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Decorator for cloning a prim based on matching prim paths of the prim's parent." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`bind_visual_material `\\ \\(prim\\_path\\, material\\_path\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_visual_material:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Bind a visual material to a prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`bind_physics_material `\\ \\(prim\\_path\\, material\\_path\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_physics_material:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Bind a physics material to a prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`export_prim_to_file `\\ \\(path\\, source\\_prim\\_path\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.export_prim_to_file:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Exports a prim from a given stage to a USD file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`make_uninstanceable `\\ \\(prim\\_path\\[\\, stage\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.make_uninstanceable:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Check if a prim and its descendants are instanced and make them uninstanceable." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`get_first_matching_child_prim `\\ \\(prim\\_path\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_first_matching_child_prim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Recursively get the first USD Prim at the path string that passes the predicate function" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`get_all_matching_child_prims `\\ \\(prim\\_path\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_all_matching_child_prims:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Performs a search starting from the root and returns all the prims matching the predicate." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`find_first_matching_prim `\\ \\(prim\\_path\\_regex\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_first_matching_prim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Find the first matching prim in the stage based on input regex expression." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`find_matching_prims `\\ \\(prim\\_path\\_regex\\[\\, stage\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prims:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Find all the matching prims in the stage based on input regex expression." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`find_matching_prim_paths `\\ \\(prim\\_path\\_regex\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prim_paths:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Find all the matching prim paths in the stage based on input regex expression." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`find_global_fixed_joint_prim `\\ \\(prim\\_path\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Find the fixed joint prim under the specified prim path that connects the target to the simulation world." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`select_usd_variants `\\ \\(prim\\_path\\, variants\\[\\, stage\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.select_usd_variants:1 +msgid "Sets the variant selections from the specified variant sets on a USD prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:3 +msgid "A USD API schema serves as an interface or API for authoring and extracting a set of attributes. They typically derive from the :class:`pxr.Usd.SchemaBase` class. This function checks if the attribute exists on the schema and sets the value of the attribute if it exists." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:7 +msgid "The USD schema to set the attribute on." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:8 +msgid "The name of the attribute." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:9 +msgid "The value to set the attribute to." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:10 +msgid "Whether to convert the attribute name to camel case." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:12 +msgid "When the input attribute name does not exist on the provided schema API." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim:3 +msgid "The function creates a new attribute if it does not exist on the prim. This is because in some cases (such as with shaders), their attributes are not exposed as USD prim properties that can be altered. This function allows us to set the value of the attributes in these cases." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim:7 +msgid "The USD prim to set the attribute on." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.apply_nested:3 +msgid "The function iterates over the provided prim path and all its children to apply input function to all prims under the specified prim path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.apply_nested:6 +msgid "If the function succeeds to apply to a prim, it will not look at the children of that prim. This is based on the physics behavior that nested schemas are not allowed. For example, a parent prim and its child prim cannot both have a rigid-body schema applied on them, or it is not possible to have nested articulations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.apply_nested:11 +msgid "While traversing the prims under the specified prim path, the function will throw a warning if it does not succeed to apply the function to any prim. This is because the user may have intended to apply the function to a prim that does not have valid attributes, or the prim may be an instanced prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.apply_nested:15 +msgid "The function to apply to all prims under a specified prim-path. The function must take the prim-path and other arguments. It should return a boolean indicating whether the function succeeded or not." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.apply_nested:19 +msgid "The wrapped function that applies the function to all prims under a specified prim-path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.apply_nested:21 +msgid "If the prim-path does not exist on the stage." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.clone:3 +msgid "The decorator checks if the parent prim path matches any prim paths in the stage. If so, it clones the spawned prim at each matching prim path. For example, if the input prim path is: ``/World/Table_[0-9]/Bottle``, the decorator will clone the prim at each matching prim path of the parent prim: ``/World/Table_0/Bottle``, ``/World/Table_1/Bottle``, etc." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.clone:10 +msgid "For matching prim paths, the decorator assumes that valid prims exist for all matching prim paths. In case no matching prim paths are found, the decorator raises a ``RuntimeError``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.clone:13 +msgid "The function to decorate." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.clone:15 +msgid "The decorated function that spawns the prim and clones it at each matching prim path. It returns the spawned source prim, i.e., the first prim in the list of matching prim paths." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_visual_material:3 +msgid "This function is a wrapper around the USD command `BindMaterialCommand`_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_physics_material:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_visual_material:6 +msgid "The function is decorated with :meth:`apply_nested` to allow applying the function to a prim path and all its descendants." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_physics_material:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_visual_material:11 +msgid "The prim path where to apply the material." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_physics_material:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_visual_material:12 +msgid "The prim path of the material to apply." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_physics_material:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_visual_material:13 +msgid "The stage where the prim and material exist. Defaults to None, in which case the current stage is used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_physics_material:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_visual_material:15 +msgid "Whether the material should override the material of its descendants. Defaults to True." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_physics_material:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_visual_material:18 +msgid "If the provided prim paths do not exist on stage." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.bind_physics_material:3 +msgid "`Physics material`_ can be applied only to a prim with physics-enabled on them. This includes having collision APIs, or deformable body APIs, or being a particle system. In case the prim does not have any of these APIs, the function will not apply the material and return False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.export_prim_to_file:3 +msgid "The function creates a new layer at the provided path and copies the prim to the layer. It sets the copied prim as the default prim in the target layer. Additionally, it updates the stage up-axis and meters-per-unit to match the current stage." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.export_prim_to_file:7 +msgid "The filepath path to export the prim to." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.export_prim_to_file:8 +msgid "The prim path to export." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.export_prim_to_file:9 +msgid "The prim path to set as the default prim in the target layer. Defaults to None, in which case the source prim path is used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.export_prim_to_file:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_first_matching_prim:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prim_paths:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prims:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_all_matching_child_prims:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_first_matching_child_prim:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.make_uninstanceable:10 +msgid "The stage where the prim exists. Defaults to None, in which case the current stage is used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.export_prim_to_file:14 +msgid "If the prim paths are not global (i.e: do not start with '/')." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.make_uninstanceable:3 +msgid "This function checks if the prim at the specified prim path and its descendants are instanced. If so, it makes the respective prim uninstanceable by disabling instancing on the prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.make_uninstanceable:6 +msgid "This is useful when we want to modify the properties of a prim that is instanced. For example, if we want to apply a different material on an instanced prim, we need to make the prim uninstanceable first." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.make_uninstanceable:9 +msgid "The prim path to check." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_first_matching_prim:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prim_paths:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prims:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_all_matching_child_prims:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_first_matching_child_prim:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.make_uninstanceable:12 +msgid "If the prim path is not global (i.e: does not start with '/')." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_first_matching_child_prim:3 +msgid "The path of the prim in the stage." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_first_matching_child_prim:4 +msgid "The function to test the prims against. It takes a prim as input and returns a boolean." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_first_matching_child_prim:7 +msgid "The first prim on the path that passes the predicate. If no prim passes the predicate, it returns None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_all_matching_child_prims:3 +msgid "The root prim path to start the search from." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_all_matching_child_prims:4 +msgid "The predicate that checks if the prim matches the desired criteria. It takes a prim as input and returns a boolean. Defaults to a function that always returns True." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_all_matching_child_prims:6 +msgid "The maximum depth for traversal, should be bigger than zero if specified. Defaults to None (i.e: traversal happens till the end of the tree)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.get_all_matching_child_prims:10 +msgid "A list containing all the prims matching the predicate." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_first_matching_prim:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prim_paths:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prims:3 +msgid "The regex expression for prim path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_first_matching_prim:6 +msgid "The first prim that matches input expression. If no prim matches, returns None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prims:6 +msgid "A list of prims that match input expression." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_matching_prim_paths:6 +msgid "A list of prim paths that match input expression." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:3 +msgid "A joint is a connection between two bodies. A fixed joint is a joint that does not allow relative motion between the two bodies. When a fixed joint has only one target body, it is considered to attach the body to the simulation world." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:7 +msgid "This function finds the fixed joint prim that has only one target under the specified prim path. If no such fixed joint prim exists, it returns None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:10 +msgid "The prim path to search for the fixed joint prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:11 +msgid "Whether to consider only enabled fixed joints. Defaults to False. If False, then all joints (enabled or disabled) are considered." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:15 +msgid "The fixed joint prim that has only one target. If no such fixed joint prim exists, it returns None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:18 +msgid "If the prim path does not exist on the stage." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.select_usd_variants:3 +msgid "`USD Variants`_ are a very powerful tool in USD composition that allows prims to have different options on a single asset. This can be done by modifying variations of the same prim parameters per variant option in a set. This function acts as a script-based utility to set the variant selections for the specified variant sets on a USD prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.select_usd_variants:8 +msgid "The function takes a dictionary or a config class mapping variant set names to variant selections. For instance, if we have a prim at ``\"/World/Table\"`` with two variant sets: \"color\" and \"size\", we can set the variant selections as follows:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.select_usd_variants:22 +msgid "Alternatively, we can use a config class to define the variant selections:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.select_usd_variants:36 +msgid "The path of the USD prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.select_usd_variants:37 +msgid "A dictionary or config class mapping variant set names to variant selections." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.select_usd_variants:38 +msgid "The USD stage. Defaults to None, in which case, the current stage is used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py:docstring of omni.isaac.lab.sim.utils.select_usd_variants:40 +msgid "If the prim at the specified path is not valid." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.sim.schemas.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.sim.schemas.pot new file mode 100644 index 0000000000..3382c06250 --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.sim.schemas.pot @@ -0,0 +1,894 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:2 +msgid "omni.isaac.lab.sim.schemas" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/__init__.py:docstring of omni.isaac.lab.sim.schemas:1 +msgid "Sub-module containing utilities for schemas used in Omniverse." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/__init__.py:docstring of omni.isaac.lab.sim.schemas:3 +msgid "We wrap the USD schemas for PhysX and USD Physics in a more convenient API for setting the parameters from Python. This is done so that configuration objects can define the schema properties to set and make it easier to tune the physics parameters without requiring to open Omniverse Kit and manually set the parameters into the respective USD attributes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/__init__.py:docstring of omni.isaac.lab.sim.schemas:10 +msgid "Schema properties cannot be applied on prims that are prototypes as they are read-only prims. This particularly affects instanced assets where some of the prims (usually the visual and collision meshes) are prototypes so that the instancing can be done efficiently." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/__init__.py:docstring of omni.isaac.lab.sim.schemas:14 +msgid "In such cases, it is assumed that the prototypes have sim-ready properties on them that don't need to be modified. Trying to set properties into prototypes will throw a warning saying that the prim is a prototype and the properties cannot be set." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/__init__.py:docstring of omni.isaac.lab.sim.schemas:18 +msgid "The schemas are defined in the following links:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/__init__.py:docstring of omni.isaac.lab.sim.schemas:20 +msgid "`UsdPhysics schema `_" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/__init__.py:docstring of omni.isaac.lab.sim.schemas:21 +msgid "`PhysxSchema schema `_" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/__init__.py:docstring of omni.isaac.lab.sim.schemas:23 +msgid "Locally, the schemas are defined in the following files:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/__init__.py:docstring of omni.isaac.lab.sim.schemas:25 +msgid "``_isaac_sim/kit/extsPhysics/omni.usd.schema.physics/plugins/UsdPhysics/resources/UsdPhysics/schema.usda``" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/__init__.py:docstring of omni.isaac.lab.sim.schemas:26 +msgid "``_isaac_sim/kit/extsPhysics/omni.usd.schema.physx/plugins/PhysxSchema/resources/PhysxSchema/schema.usda``" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +msgid ":py:obj:`ArticulationRootPropertiesCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.ArticulationRootPropertiesCfg:1 +msgid "Properties to apply to the root of an articulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +msgid ":py:obj:`RigidBodyPropertiesCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.RigidBodyPropertiesCfg:1 +msgid "Properties to apply to a rigid body." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +msgid ":py:obj:`CollisionPropertiesCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.CollisionPropertiesCfg:1 +msgid "Properties to apply to colliders in a rigid body." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +msgid ":py:obj:`MassPropertiesCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.MassPropertiesCfg:1 +msgid "Properties to define explicit mass properties of a rigid body." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +msgid ":py:obj:`JointDrivePropertiesCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.JointDrivePropertiesCfg:1 +msgid "Properties to define the drive mechanism of a joint." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +msgid ":py:obj:`FixedTendonPropertiesCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.FixedTendonPropertiesCfg:1 +msgid "Properties to define fixed tendons of an articulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:18 +msgid "Functions" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid ":py:obj:`define_articulation_root_properties `\\ \\(...\\[\\, stage\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:1 +msgid "Apply the articulation root schema on the input prim and set its properties." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid ":py:obj:`modify_articulation_root_properties `\\ \\(...\\[\\, stage\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:1 +msgid "Modify PhysX parameters for an articulation root prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid ":py:obj:`define_rigid_body_properties `\\ \\(prim\\_path\\, cfg\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:1 +msgid "Apply the rigid body schema on the input prim and set its properties." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid ":py:obj:`modify_rigid_body_properties `\\ \\(prim\\_path\\, cfg\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:1 +msgid "Modify PhysX parameters for a rigid body prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid ":py:obj:`activate_contact_sensors `\\ \\(prim\\_path\\[\\, ...\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:1 +msgid "Activate the contact sensor on all rigid bodies under a specified prim path." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid ":py:obj:`define_collision_properties `\\ \\(prim\\_path\\, cfg\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_collision_properties:1 +msgid "Apply the collision schema on the input prim and set its properties." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid ":py:obj:`modify_collision_properties `\\ \\(prim\\_path\\, cfg\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:1 +msgid "Modify PhysX properties of collider prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid ":py:obj:`define_mass_properties `\\ \\(prim\\_path\\, cfg\\[\\, stage\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_mass_properties:1 +msgid "Apply the mass schema on the input prim and set its properties." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid ":py:obj:`modify_mass_properties `\\ \\(prim\\_path\\, cfg\\[\\, stage\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:1 +msgid "Set properties for the mass of a rigid body prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid ":py:obj:`modify_joint_drive_properties `\\ \\(prim\\_path\\, ...\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:1 +msgid "Modify PhysX parameters for a joint prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid ":py:obj:`modify_fixed_tendon_properties `\\ \\(prim\\_path\\, cfg\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:1 +msgid "Modify PhysX parameters for a fixed tendon attachment prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:34 +msgid "Articulation Root" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.ArticulationRootPropertiesCfg:3 +msgid "See :meth:`modify_articulation_root_properties` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.ArticulationRootPropertiesCfg:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.CollisionPropertiesCfg:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.FixedTendonPropertiesCfg:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.JointDrivePropertiesCfg:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.MassPropertiesCfg:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.RigidBodyPropertiesCfg:6 +msgid "If the values are None, they are not modified. This is useful when you want to set only a subset of the properties and leave the rest as-is." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.ArticulationRootPropertiesCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.CollisionPropertiesCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.FixedTendonPropertiesCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.JointDrivePropertiesCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.MassPropertiesCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.RigidBodyPropertiesCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid ":py:obj:`articulation_enabled `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1 +msgid "Whether to enable or disable articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid ":py:obj:`enabled_self_collisions `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.enabled_self_collisions:1 +msgid "Whether to enable or disable self-collisions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid ":py:obj:`solver_position_iteration_count `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_position_iteration_count:1 +#: ../../docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_velocity_iteration_count:1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_position_iteration_count:1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_velocity_iteration_count:1 +msgid "Solver position iteration counts for the body." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid ":py:obj:`solver_velocity_iteration_count `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid ":py:obj:`sleep_threshold `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.sleep_threshold:1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.sleep_threshold:1 +msgid "Mass-normalized kinetic energy threshold below which an actor may go to sleep." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid ":py:obj:`stabilization_threshold `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.stabilization_threshold:1 +msgid "The mass-normalized kinetic energy threshold below which an articulation may participate in stabilization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid ":py:obj:`fix_root_link `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link:1 +msgid "Whether to fix the root link of the articulation." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link:3 +msgid "If set to None, the root link is not modified." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link:4 +msgid "If the articulation already has a fixed root link, this flag will enable or disable the fixed joint." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link:5 +msgid "If the articulation does not have a fixed root link, this flag will create a fixed joint between the world frame and the root link. The joint is created with the name \"FixedJoint\" under the articulation prim." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link:9 +msgid "This is a non-USD schema property. It is handled by the :meth:`modify_articulation_root_properties` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:3 +msgid "See :func:`modify_articulation_root_properties` for more details on how the properties are set." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_collision_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_mass_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:5 +msgid "The prim path where to apply the articulation root schema." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:29 +msgid "The configuration for the articulation root." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_collision_properties:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_mass_properties:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:30 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:19 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:22 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:22 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:21 +msgid "The stage where to find the prim. Defaults to None, in which case the current stage is used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_collision_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_mass_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_collision_properties:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_mass_properties:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:10 +msgid "When the prim path is not valid." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:11 +msgid "When the prim already has conflicting API schemas." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:3 +msgid "The `articulation root`_ marks the root of an articulation tree. For floating articulations, this should be on the root body. For fixed articulations, this API can be on a direct or indirect parent of the root joint which is fixed to the world." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:7 +msgid "The schema comprises of attributes that belong to the `ArticulationRootAPI`_ and `PhysxArticulationAPI`_. schemas. The latter contains the PhysX parameters for the articulation root." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:10 +msgid "The properties are applied to the articulation root prim. The common properties (such as solver position and velocity iteration counts, sleep threshold, stabilization threshold) take precedence over those specified in the rigid body schemas for all the rigid bodies in the articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:15 +msgid "When the attribute :attr:`schemas_cfg.ArticulationRootPropertiesCfg.fix_root_link` is set to True, a fixed joint is created between the root link and the world frame (if it does not already exist). However, to deal with physics parser limitations, the articulation root schema needs to be applied to the parent of the root link." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:21 +msgid "This function is decorated with :func:`apply_nested` that set the properties to all the prims (that have the schema applied on them) under the input prim path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:28 +msgid "The prim path to the articulation root." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:33 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:22 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:21 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:25 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:25 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:24 +msgid "True if the properties were successfully set, False otherwise." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:35 +msgid "When the root prim is not a rigid body and a fixed joint is to be created." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:44 +msgid "Rigid Body" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.RigidBodyPropertiesCfg:3 +msgid "See :meth:`modify_rigid_body_properties` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`rigid_body_enabled `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1 +msgid "Whether to enable or disable the rigid body." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`kinematic_enabled `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled:1 +msgid "Determines whether the body is kinematic or not." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`disable_gravity `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.disable_gravity:1 +msgid "Disable gravity for the actor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`linear_damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.linear_damping:1 +msgid "Linear damping for the body." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`angular_damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.angular_damping:1 +msgid "Angular damping for the body." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`max_linear_velocity `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_linear_velocity:1 +msgid "Maximum linear velocity for rigid bodies (in m/s)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`max_angular_velocity `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_angular_velocity:1 +msgid "Maximum angular velocity for rigid bodies (in deg/s)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`max_depenetration_velocity `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_depenetration_velocity:1 +msgid "Maximum depenetration velocity permitted to be introduced by the solver (in m/s)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`max_contact_impulse `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_contact_impulse:1 +msgid "The limit on the impulse that may be applied at a contact." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`enable_gyroscopic_forces `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.enable_gyroscopic_forces:1 +msgid "Enables computation of gyroscopic forces on the rigid body." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`retain_accelerations `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.retain_accelerations:1 +msgid "Carries over forces/accelerations over sub-steps." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`solver_position_iteration_count `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`solver_velocity_iteration_count `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`sleep_threshold `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid ":py:obj:`stabilization_threshold `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.stabilization_threshold:1 +msgid "The mass-normalized kinetic energy threshold below which an actor may participate in stabilization." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled:3 +msgid "A kinematic body is a body that is moved through animated poses or through user defined poses. The simulation still derives velocities for the kinematic body based on the external motion." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled:6 +msgid "For more information on kinematic bodies, please refer to the `documentation `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:3 +msgid "See :func:`modify_rigid_body_properties` for more details on how the properties are set." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_collision_properties:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_mass_properties:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:5 +msgid "The prim path where to apply the rigid body schema." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:20 +msgid "The configuration for the rigid body." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:3 +msgid "A `rigid body`_ is a single body that can be simulated by PhysX. It can be either dynamic or kinematic. A dynamic body responds to forces and collisions. A `kinematic body`_ can be moved by the user, but does not respond to forces. They are similar to having static bodies that can be moved around." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:7 +msgid "The schema comprises of attributes that belong to the `RigidBodyAPI`_ and `PhysxRigidBodyAPI`_. schemas. The latter contains the PhysX parameters for the rigid body." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:11 +msgid "This function is decorated with :func:`apply_nested` that sets the properties to all the prims (that have the schema applied on them) under the input prim path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:19 +msgid "The prim path to the rigid body." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:3 +msgid "This function adds the PhysX contact report API to all rigid bodies under the specified prim path. It also sets the force threshold beyond which the contact sensor reports the contact. The contact reporting API can only be added to rigid bodies." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:7 +msgid "The prim path under which to search and prepare contact sensors." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:8 +msgid "The threshold for the contact sensor. Defaults to 0.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:23 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:27 +msgid "If the input prim path is not valid." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:13 +msgid "If there are no rigid bodies under the prim path." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:55 +msgid "Collision" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.CollisionPropertiesCfg:3 +msgid "See :meth:`modify_collision_properties` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +msgid ":py:obj:`collision_enabled `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1 +msgid "Whether to enable or disable collisions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +msgid ":py:obj:`contact_offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.contact_offset:1 +msgid "Contact offset for the collision shape (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +msgid ":py:obj:`rest_offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.rest_offset:1 +msgid "Rest offset for the collision shape (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +msgid ":py:obj:`torsional_patch_radius `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.torsional_patch_radius:1 +msgid "Radius of the contact patch for applying torsional friction (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +msgid ":py:obj:`min_torsional_patch_radius `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.min_torsional_patch_radius:1 +msgid "Minimum radius of the contact patch for applying torsional friction (in m)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.contact_offset:3 +msgid "The collision detector generates contact points as soon as two shapes get closer than the sum of their contact offsets. This quantity should be non-negative which means that contact generation can potentially start before the shapes actually penetrate." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.rest_offset:3 +msgid "The rest offset quantifies how close a shape gets to others at rest, At rest, the distance between two vertically stacked objects is the sum of their rest offsets. If a pair of shapes have a positive rest offset, the shapes will be separated at rest by an air gap." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.torsional_patch_radius:3 +msgid "It is used to approximate rotational friction introduced by the compression of contacting surfaces. If the radius is zero, no torsional friction is applied." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_collision_properties:3 +msgid "See :func:`modify_collision_properties` for more details on how the properties are set." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_collision_properties:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:18 +msgid "The configuration for the collider." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:3 +msgid "These properties are based on the `UsdPhysics.CollisionAPI`_ and `PhysxSchema.PhysxCollisionAPI`_ schemas. For more information on the properties, please refer to the official documentation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:6 +msgid "Tuning these parameters influence the contact behavior of the rigid body. For more information on tune them and their effect on the simulation, please refer to the `PhysX documentation `__." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:17 +msgid "The prim path of parent." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:65 +msgid "Mass" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.MassPropertiesCfg:3 +msgid "See :meth:`modify_mass_properties` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass:1::1 +msgid ":py:obj:`mass `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass:1 +msgid "The mass of the rigid body (in kg)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass:1::1 +msgid ":py:obj:`density `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.MassPropertiesCfg.density:1 +msgid "The density of the rigid body (in kg/m^3)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass:3 +msgid "If non-zero, the mass is ignored and the density is used to compute the mass." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.MassPropertiesCfg.density:3 +msgid "The density indirectly defines the mass of the rigid body. It is generally computed using the collision approximation of the body." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_mass_properties:3 +msgid "See :func:`modify_mass_properties` for more details on how the properties are set." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.define_mass_properties:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:21 +msgid "The configuration for the mass properties." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:3 +msgid "These properties are based on the `UsdPhysics.MassAPI` schema. If the mass is not defined, the density is used to compute the mass. However, in that case, a collision approximation of the rigid body is used to compute the density. For more information on the properties, please refer to the `documentation `__." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:10 +msgid "The mass of an object can be specified in multiple ways and have several conflicting settings that are resolved based on precedence. Please make sure to understand the precedence rules before using this property." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:20 +msgid "The prim path of the rigid body." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:75 +msgid "Joint Drive" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.JointDrivePropertiesCfg:3 +msgid "See :meth:`modify_joint_drive_properties` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type:1::1 +msgid ":py:obj:`drive_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type:1 +msgid "Joint drive type to apply." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type:3 +msgid "If the drive type is \"force\", then the joint is driven by a force. If the drive type is \"acceleration\", then the joint is driven by an acceleration (usually used for kinematic joints)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:3 +msgid "This function checks if the input prim is a prismatic or revolute joint and applies the joint drive schema on it. If the joint is a tendon (i.e., it has the `PhysxTendonAxisAPI`_ schema applied on it), then the joint drive schema is not applied." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:7 +msgid "Based on the configuration, this method modifies the properties of the joint drive. These properties are based on the `UsdPhysics.DriveAPI`_ schema. For more information on the properties, please refer to the official documentation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:13 +msgid "We highly recommend modifying joint properties of articulations through the functionalities in the :mod:`omni.isaac.lab.actuators` module. The methods here are for setting simulation low-level properties only." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:20 +msgid "The prim path where to apply the joint drive schema." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:21 +msgid "The configuration for the joint drive." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:84 +msgid "Fixed Tendon" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.schemas_cfg.FixedTendonPropertiesCfg:3 +msgid "See :meth:`modify_fixed_tendon_properties` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid ":py:obj:`tendon_enabled `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1 +msgid "Whether to enable or disable the tendon." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.stiffness:1 +msgid "Spring stiffness term acting on the tendon's length." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.damping:1 +msgid "The damping term acting on both the tendon length and the tendon-length limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid ":py:obj:`limit_stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.limit_stiffness:1 +msgid "Limit stiffness term acting on the tendon's length limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid ":py:obj:`offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.offset:1 +msgid "Length offset term for the tendon." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid ":py:obj:`rest_length `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas_cfg.py:docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +#: ../../docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.rest_length:1 +msgid "Spring rest length of the tendon." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.offset:3 +msgid "It defines an amount to be added to the accumulated length computed for the tendon. This allows the application to actuate the tendon by shortening or lengthening it." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:3 +msgid "A `fixed tendon`_ can be used to link multiple degrees of freedom of articulation joints through length and limit constraints. For instance, it can be used to set up an equality constraint between a driven and passive revolute joints." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:7 +msgid "The schema comprises of attributes that belong to the `PhysxTendonAxisRootAPI`_ schema." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:16 +msgid "The prim path to the tendon attachment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py:docstring of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:17 +msgid "The configuration for the tendon attachment." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.sim.spawners.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.sim.spawners.pot new file mode 100644 index 0000000000..c8a43dc553 --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.sim.spawners.pot @@ -0,0 +1,2575 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:2 +msgid "omni.isaac.lab.sim.spawners" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py:docstring of omni.isaac.lab.sim.spawners:1 +msgid "Sub-module containing utilities for creating prims in Omniverse." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py:docstring of omni.isaac.lab.sim.spawners:3 +msgid "Spawners are used to create prims into Omniverse simulator. At their core, they are calling the USD Python API or Omniverse Kit Commands to create prims. However, they also provide a convenient interface for creating prims from their respective config classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py:docstring of omni.isaac.lab.sim.spawners:7 +msgid "There are two main ways of using the spawners:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py:docstring of omni.isaac.lab.sim.spawners:9 +msgid "Using the function from the module" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py:docstring of omni.isaac.lab.sim.spawners:23 +msgid "Using the `func` reference in the config class" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py:docstring of omni.isaac.lab.sim.spawners:37 +msgid "For convenience, we recommend using the second approach, as it allows to easily change the config class and the function call in a single line of code." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py:docstring of omni.isaac.lab.sim.spawners:40 +msgid "Depending on the type of prim, the spawning-functions can also deal with the creation of prims over multiple prim path. These need to be provided as a regex prim path expressions, which are resolved based on the parent prim paths using the :meth:`omni.isaac.lab.sim.utils.clone` function decorator. For example:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py:docstring of omni.isaac.lab.sim.spawners:45 +msgid "``/World/Table_[1,2]/Robot`` will create the prims ``/World/Table_1/Robot`` and ``/World/Table_2/Robot`` only if the parent prim ``/World/Table_1`` and ``/World/Table_2`` exist." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py:docstring of omni.isaac.lab.sim.spawners:47 +msgid "``/World/Robot_[1,2]`` will **NOT** create the prims ``/World/Robot_1`` and ``/World/Robot_2`` as the prim path expression can be resolved to multiple prims." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:7 +msgid "Submodules" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +msgid ":py:obj:`shapes `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/__init__.py:docstring of omni.isaac.lab.sim.spawners.shapes:1 +msgid "Sub-module for spawning primitive shapes in the simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +msgid ":py:obj:`lights `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/__init__.py:docstring of omni.isaac.lab.sim.spawners.lights:1 +msgid "Sub-module for spawners that spawn lights in the simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +msgid ":py:obj:`sensors `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/__init__.py:docstring of omni.isaac.lab.sim.spawners.sensors:1 +msgid "Sub-module for spawners that spawn sensors in the simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +msgid ":py:obj:`from_files `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/__init__.py:docstring of omni.isaac.lab.sim.spawners.from_files:1 +msgid "Sub-module for spawners that spawn assets from files." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +msgid ":py:obj:`materials `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/__init__.py:docstring of omni.isaac.lab.sim.spawners.materials:1 +msgid "Sub-module for spawners that spawn USD-based and PhysX-based materials." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:17 +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:41 +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:97 +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:139 +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:161 +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:192 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:21::1 +msgid ":py:obj:`SpawnerCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:21::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg:1 +msgid "Configuration parameters for spawning an asset." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:21::1 +msgid ":py:obj:`RigidObjectSpawnerCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:21::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.spawner_cfg.RigidObjectSpawnerCfg:1 +msgid "Configuration parameters for spawning a rigid asset." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:24 +msgid "Spawners" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg:3 +msgid "Spawning an asset is done by calling the :attr:`func` function. The function takes in the prim path to spawn the asset at, the configuration instance and transformation, and returns the prim path of the spawned asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg:7 +msgid "The function is typically decorated with :func:`omni.isaac.lab.sim.spawner.utils.clone` decorator that checks if input prim path is a regex expression and spawns the asset at all matching prims. For this, the decorator uses the Cloner API from Isaac Sim and handles the :attr:`copy_from_source` parameter." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.GroundPlaneCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UsdFileCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.CylinderLightCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.DiskLightCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.DistantLightCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.DomeLightCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.LightCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.SphereLightCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.RigidBodyMaterialCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.GlassMdlCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.MdlFileCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.PreviewSurfaceCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors_cfg.FisheyeCameraCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors_cfg.PinholeCameraCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CapsuleCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ConeCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CuboidCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CylinderCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ShapeCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.SphereCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.spawner_cfg.RigidObjectSpawnerCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid ":py:obj:`func `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1 +msgid "Function to use for spawning the asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid ":py:obj:`visible `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid "Whether the spawned asset should be visible." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid ":py:obj:`semantic_tags `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid "List of semantic tags to add to the spawned asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid ":py:obj:`copy_from_source `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid "Whether to copy the asset from the source prim or inherit it." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.func:3 +msgid "The function takes in the prim path (or expression) to spawn the asset at, the configuration instance and transformation, and returns the source prim spawned." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visible:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.visible:1 +msgid "Whether the spawned asset should be visible. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags:1 +msgid "List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags:4 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags:4 +msgid "The semantic tags follow the `Replicator Semantic` tagging system. Each tag is a tuple of the form ``(type, data)``, where ``type`` is the type of the tag and ``data`` is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be ``[(\"class\", \"avocado\")]``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags:9 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags:9 +msgid "You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be ``[(\"class\", \"avocado\"), (\"color\", \"green\")]``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags:15 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags:15 +msgid "For more information on the semantics filter, see the documentation for the `semantics schema editor`_." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.copy_from_source:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.copy_from_source:1 +msgid "Whether to copy the asset from the source prim or inherit it. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.copy_from_source:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.copy_from_source:3 +msgid "This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.copy_from_source:8 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.copy_from_source:8 +msgid "This parameter is only supported from Isaac Sim 2023.1 onwards. If you are using an older version of Isaac Sim, this parameter will be ignored." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.spawner_cfg.RigidObjectSpawnerCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.spawner_cfg.RigidObjectSpawnerCfg:5 +msgid "By default, all properties are set to None. This means that no properties will be added or modified to the prim outside of the properties available by default when spawning the prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +msgid ":py:obj:`mass_props `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.mass_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.mass_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.mass_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.mass_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.mass_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.mass_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.mass_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.mass_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.mass_props:1 +msgid "Mass properties." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +msgid ":py:obj:`rigid_props `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.rigid_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.rigid_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.rigid_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.rigid_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.rigid_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.rigid_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.rigid_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.rigid_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.rigid_props:1 +msgid "Rigid body properties." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +msgid ":py:obj:`collision_props `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.collision_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.collision_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.collision_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.collision_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.collision_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.collision_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.collision_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.collision_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.collision_props:1 +msgid "Properties to apply to all collision meshes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +msgid ":py:obj:`activate_contact_sensors `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py:docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +msgid "Activate contact reporting on all rigid bodies." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.rigid_props:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.rigid_props:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.rigid_props:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.rigid_props:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.rigid_props:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.rigid_props:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.rigid_props:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.rigid_props:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.rigid_props:3 +msgid "For making a rigid object static, set the :attr:`schemas.RigidBodyPropertiesCfg.kinematic_enabled` as True. This will make the object static and will not be affected by gravity or other forces." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.activate_contact_sensors:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.activate_contact_sensors:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.activate_contact_sensors:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.activate_contact_sensors:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.activate_contact_sensors:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.activate_contact_sensors:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.activate_contact_sensors:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.activate_contact_sensors:1 +msgid "Activate contact reporting on all rigid bodies. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.activate_contact_sensors:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.activate_contact_sensors:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.activate_contact_sensors:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.activate_contact_sensors:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.activate_contact_sensors:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.activate_contact_sensors:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.activate_contact_sensors:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.activate_contact_sensors:3 +msgid "This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:36 +msgid "Shapes" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/__init__.py:docstring of omni.isaac.lab.sim.spawners.shapes:3 +msgid "NVIDIA Omniverse provides various primitive shapes that can be used to create USDGeom prims. Based on the configuration, the spawned prim can be:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/__init__.py:docstring of omni.isaac.lab.sim.spawners.shapes:6 +msgid "a visual mesh (no physics)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/__init__.py:docstring of omni.isaac.lab.sim.spawners.shapes:7 +msgid "a static collider (no rigid body)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/__init__.py:docstring of omni.isaac.lab.sim.spawners.shapes:8 +msgid "a rigid body (with collision and rigid body properties)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +msgid ":py:obj:`ShapeCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ShapeCfg:1 +msgid "Configuration parameters for a USD Geometry or Geom prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +msgid ":py:obj:`CapsuleCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CapsuleCfg:1 +msgid "Configuration parameters for a capsule prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +msgid ":py:obj:`ConeCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ConeCfg:1 +msgid "Configuration parameters for a cone prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +msgid ":py:obj:`CuboidCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CuboidCfg:1 +msgid "Configuration parameters for a cuboid prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +msgid ":py:obj:`CylinderCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CylinderCfg:1 +msgid "Configuration parameters for a cylinder prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +msgid ":py:obj:`SphereCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.SphereCfg:1 +msgid "Configuration parameters for a sphere prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +msgid ":py:obj:`visual_material_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +msgid "Path to the visual material to use for the prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +msgid ":py:obj:`visual_material `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material:1 +msgid "Visual material properties." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +msgid ":py:obj:`physics_material_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +msgid "Path to the physics material to use for the prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +msgid ":py:obj:`physics_material `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material:1 +msgid "Physics material properties." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material_path:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material_path:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material_path:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material_path:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material_path:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material_path:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material_path:1 +msgid "Path to the visual material to use for the prim. Defaults to \"material\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material_path:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material_path:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material_path:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material_path:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material_path:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material_path:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material_path:3 +msgid "If the path is relative, then it will be relative to the prim's path. This parameter is ignored if `visual_material` is not None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material:3 +msgid "If None, then no visual material will be added." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material_path:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material_path:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material_path:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material_path:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material_path:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material_path:1 +msgid "Path to the physics material to use for the prim. Defaults to \"material\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material_path:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material_path:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material_path:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material_path:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material_path:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material_path:3 +msgid "If the path is relative, then it will be relative to the prim's path. This parameter is ignored if `physics_material` is not None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material:3 +msgid "If None, then no physics material will be added." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:1 +msgid "Create a USDGeom-based capsule prim with the given attributes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:3 +msgid "For more information, see `USDGeomCapsule `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights.py:docstring of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:6 +msgid "This function is decorated with :func:`clone` that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights.py:docstring of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights.py:docstring of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:10 +msgid "The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:19 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:12 +msgid "The configuration instance." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:13 +msgid "The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to the origin." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:15 +msgid "The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to identity." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:21 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:19 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:23 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:18 +msgid "The created prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights.py:docstring of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:23 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:22 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:21 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:20 +msgid "If a prim already exists at the given path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CapsuleCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ConeCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CuboidCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CylinderCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.SphereCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ShapeCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CapsuleCfg:3 +msgid "See :meth:`spawn_capsule` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible:1::1 +msgid ":py:obj:`radius `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.radius:1 +msgid "Radius of the capsule (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible:1::1 +msgid ":py:obj:`height `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.height:1 +msgid "Height of the capsule (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible:1::1 +msgid ":py:obj:`axis `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible:1::1 +msgid "Axis of the capsule." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.axis:1 +msgid "Axis of the capsule. Defaults to \"Z\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:1 +msgid "Create a USDGeom-based cone prim with the given attributes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:3 +msgid "For more information, see `USDGeomCone `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ConeCfg:3 +msgid "See :meth:`spawn_cone` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible:1::1 +msgid ":py:obj:`radius `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.radius:1 +msgid "Radius of the cone (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible:1::1 +msgid ":py:obj:`height `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.height:1 +msgid "Height of the v (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible:1::1 +msgid ":py:obj:`axis `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible:1::1 +msgid "Axis of the cone." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.axis:1 +msgid "Axis of the cone. Defaults to \"Z\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:1 +msgid "Create a USDGeom-based cuboid prim with the given attributes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:3 +msgid "For more information, see `USDGeomCube `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:7 +msgid "Since USD only supports cubes, we set the size of the cube to the minimum of the given size and scale the cube accordingly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CuboidCfg:3 +msgid "See :meth:`spawn_cuboid` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.size:1::1 +msgid ":py:obj:`size `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.size:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.size:1 +msgid "Size of the cuboid." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:1 +msgid "Create a USDGeom-based cylinder prim with the given attributes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:3 +msgid "For more information, see `USDGeomCylinder `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CylinderCfg:3 +msgid "See :meth:`spawn_cylinder` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius:1::1 +msgid ":py:obj:`radius `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius:1 +msgid "Radius of the cylinder (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius:1::1 +msgid ":py:obj:`height `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.height:1 +msgid "Height of the cylinder (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius:1::1 +msgid ":py:obj:`axis `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius:1::1 +msgid "Axis of the cylinder." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.axis:1 +msgid "Axis of the cylinder. Defaults to \"Z\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:1 +msgid "Create a USDGeom-based sphere prim with the given attributes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:3 +msgid "For more information, see `USDGeomSphere `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.SphereCfg:3 +msgid "See :meth:`spawn_sphere` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.radius:1::1 +msgid ":py:obj:`radius `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/shapes/shapes_cfg.py:docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.radius:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.radius:1 +msgid "Radius of the sphere (in m)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:92 +msgid "Lights" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/__init__.py:docstring of omni.isaac.lab.sim.spawners.lights:3 +msgid "There are various different kinds of lights that can be spawned into the USD stage. Please check the Omniverse documentation for `lighting overview `_." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +msgid ":py:obj:`LightCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.LightCfg:1 +msgid "Configuration parameters for creating a light in the scene." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +msgid ":py:obj:`CylinderLightCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.CylinderLightCfg:1 +msgid "Configuration parameters for creating a cylinder light in the scene." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +msgid ":py:obj:`DiskLightCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.DiskLightCfg:1 +msgid "Configuration parameters for creating a disk light in the scene." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +msgid ":py:obj:`DistantLightCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.DistantLightCfg:1 +msgid "Configuration parameters for creating a distant light in the scene." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +msgid ":py:obj:`DomeLightCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.DomeLightCfg:1 +msgid "Configuration parameters for creating a dome light in the scene." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +msgid ":py:obj:`SphereLightCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.SphereLightCfg:1 +msgid "Configuration parameters for creating a sphere light in the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights.py:docstring of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:1 +msgid "Create a light prim at the specified prim path with the specified configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights.py:docstring of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:3 +msgid "The created prim is based on the `USD.LuxLight `_ API." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights.py:docstring of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:12 +msgid "The configuration for the light source." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights.py:docstring of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:13 +msgid "The translation of the prim. Defaults to None, in which case this is set to the origin." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights.py:docstring of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:14 +msgid "The orientation of the prim as (w, x, y, z). Defaults to None, in which case this is set to identity." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights.py:docstring of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:17 +msgid "When a prim already exists at the specified prim path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.LightCfg:3 +msgid "Please refer to the documentation on `USD LuxLight `_ for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.CylinderLightCfg:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.DiskLightCfg:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.DistantLightCfg:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.DomeLightCfg:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.LightCfg:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.SphereLightCfg:8 +msgid "The default values for the attributes are those specified in the their official documentation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid ":py:obj:`prim_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.prim_type:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.prim_type:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.prim_type:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.prim_type:1 +msgid "The prim type name for the light prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid ":py:obj:`color `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "The color of emitted light, in energy-linear terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid ":py:obj:`enable_color_temperature `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "Enables color temperature." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid ":py:obj:`color_temperature `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "Color temperature (in Kelvin) representing the white point." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid ":py:obj:`normalize `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "Normalizes power by the surface area of the light." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid ":py:obj:`exposure `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "Scales the power of the light exponentially as a power of 2." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid ":py:obj:`intensity `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "Scales the power of the light linearly." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.color:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color:1 +msgid "The color of emitted light, in energy-linear terms. Defaults to white." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.enable_color_temperature:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.enable_color_temperature:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.enable_color_temperature:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.enable_color_temperature:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.enable_color_temperature:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.enable_color_temperature:1 +msgid "Enables color temperature. Defaults to false." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color_temperature:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color_temperature:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color_temperature:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color_temperature:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.color_temperature:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color_temperature:1 +msgid "Color temperature (in Kelvin) representing the white point. The valid range is [1000, 10000]. Defaults to 6500K." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color_temperature:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color_temperature:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color_temperature:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color_temperature:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.color_temperature:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color_temperature:3 +msgid "The `color temperature `_ corresponds to the warmth or coolness of light. Warmer light has a lower color temperature, while cooler light has a higher color temperature." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color_temperature:7 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color_temperature:7 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color_temperature:7 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color_temperature:7 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.color_temperature:7 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color_temperature:7 +msgid "It only takes effect when :attr:`enable_color_temperature` is true." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.normalize:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.normalize:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.normalize:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.normalize:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.normalize:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.normalize:1 +msgid "Normalizes power by the surface area of the light. Defaults to false." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.normalize:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.normalize:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.normalize:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.normalize:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.normalize:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.normalize:3 +msgid "This makes it easier to independently adjust the power and shape of the light, by causing the power to not vary with the area or angular size of the light." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.exposure:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.exposure:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.exposure:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.exposure:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.exposure:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.exposure:1 +msgid "Scales the power of the light exponentially as a power of 2. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.exposure:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.exposure:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.exposure:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.exposure:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.exposure:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.exposure:3 +msgid "The result is multiplied against the intensity." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.intensity:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.intensity:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.intensity:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.intensity:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.LightCfg.intensity:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.intensity:1 +msgid "Scales the power of the light linearly. Defaults to 1.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.CylinderLightCfg:3 +msgid "A cylinder light is a light source that emits light from a cylinder. It is useful for simulating fluorescent lights. For more information, please refer to the documentation on `USDLux CylinderLight `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible:1::1 +msgid ":py:obj:`length `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible:1::1 +msgid "Length of the cylinder (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible:1::1 +msgid ":py:obj:`radius `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible:1::1 +msgid ":py:obj:`treat_as_line `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible:1::1 +msgid "Treats the cylinder as a line source, i.e. a zero-radius cylinder." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.length:1 +msgid "Length of the cylinder (in m). Defaults to 1.0m." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.radius:1 +msgid "Radius of the cylinder (in m). Defaults to 0.5m." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.treat_as_line:1 +msgid "Treats the cylinder as a line source, i.e. a zero-radius cylinder. Defaults to false." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.DiskLightCfg:3 +msgid "A disk light is a light source that emits light from a disk. It is useful for simulating fluorescent lights. For more information, please refer to the documentation on `USDLux DiskLight `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.prim_type:1::1 +msgid ":py:obj:`radius `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.prim_type:1::1 +msgid "Radius of the disk (in m)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.radius:1 +msgid "Radius of the disk (in m). Defaults to 0.5m." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.DistantLightCfg:3 +msgid "A distant light is a light source that is infinitely far away, and emits parallel rays of light. It is useful for simulating sun/moon light. For more information, please refer to the documentation on `USDLux DistantLight `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.prim_type:1::1 +msgid ":py:obj:`angle `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.prim_type:1::1 +msgid "Angular size of the light (in degrees)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.angle:1 +msgid "Angular size of the light (in degrees). Defaults to 0.53 degrees." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DistantLightCfg.angle:3 +msgid "As an example, the Sun is approximately 0.53 degrees as seen from Earth. Higher values broaden the light and therefore soften shadow edges." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.DomeLightCfg:3 +msgid "A dome light is a light source that emits light inwards from all directions. It is also possible to attach a texture to the dome light, which will be used to emit light. For more information, please refer to the documentation on `USDLux DomeLight `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type:1::1 +msgid ":py:obj:`texture_file `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type:1::1 +msgid "A color texture to use on the dome, such as an HDR (high dynamic range) texture intended for IBL (image based lighting)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type:1::1 +msgid ":py:obj:`texture_format `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type:1::1 +msgid "The parametrization format of the color map file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type:1::1 +msgid ":py:obj:`visible_in_primary_ray `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type:1::1 +msgid "Whether the dome light is visible in the primary ray." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_file:1 +msgid "A color texture to use on the dome, such as an HDR (high dynamic range) texture intended for IBL (image based lighting). Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_file:4 +msgid "If None, the dome will emit a uniform color." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format:1 +msgid "The parametrization format of the color map file. Defaults to \"automatic\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format:3 +msgid "Valid values are:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format:5 +msgid "``\"automatic\"``: Tries to determine the layout from the file itself. For example, Renderman texture files embed an explicit parameterization." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format:6 +msgid "``\"latlong\"``: Latitude as X, longitude as Y." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format:7 +msgid "``\"mirroredBall\"``: An image of the environment reflected in a sphere, using an implicitly orthogonal projection." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format:8 +msgid "``\"angular\"``: Similar to mirroredBall but the radial dimension is mapped linearly to the angle, providing better sampling at the edges." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format:9 +msgid "``\"cubeMapVerticalCross\"``: A cube map with faces laid out as a vertical cross." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible_in_primary_ray:1 +msgid "Whether the dome light is visible in the primary ray. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible_in_primary_ray:3 +msgid "If true, the texture in the sky is visible, otherwise the sky is black." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.lights_cfg.SphereLightCfg:3 +msgid "A sphere light is a light source that emits light outward from a sphere. For more information, please refer to the documentation on `USDLux SphereLight `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible:1::1 +msgid ":py:obj:`radius `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible:1::1 +msgid "Radius of the sphere." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible:1::1 +msgid ":py:obj:`treat_as_point `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/lights_cfg.py:docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible:1::1 +msgid "Treats the sphere as a point source, i.e. a zero-radius sphere." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.radius:1 +msgid "Radius of the sphere. Defaults to 0.5m." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.SphereLightCfg.treat_as_point:1 +msgid "Treats the sphere as a point source, i.e. a zero-radius sphere. Defaults to false." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:134 +msgid "Sensors" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/__init__.py:docstring of omni.isaac.lab.sim.spawners.sensors:3 +msgid "Currently, the following sensors are supported:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/__init__.py:docstring of omni.isaac.lab.sim.spawners.sensors:5 +msgid "Camera: A USD camera prim with settings for pinhole or fisheye projections." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:143::1 +msgid ":py:obj:`PinholeCameraCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:143::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors_cfg.PinholeCameraCfg:1 +msgid "Configuration parameters for a USD camera prim with pinhole camera settings." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:143::1 +msgid ":py:obj:`FisheyeCameraCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:143::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors_cfg.FisheyeCameraCfg:1 +msgid "Configuration parameters for a USD camera prim with `fish-eye camera`_ settings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:1 +msgid "Create a USD camera prim with given projection type." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:3 +msgid "The function creates various attributes on the camera prim that specify the camera's properties. These are later used by ``omni.replicator.core`` to render the scene with the given camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors_cfg.PinholeCameraCfg:3 +msgid "For more information on the parameters, please refer to the `camera documentation `__." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors_cfg.FisheyeCameraCfg:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors_cfg.PinholeCameraCfg:6 +msgid "The default values are taken from the `Replicator camera `__ function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid ":py:obj:`projection_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Type of projection to use for the camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid ":py:obj:`clipping_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Near and far clipping distances (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid ":py:obj:`focal_length `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Perspective focal length (in cm)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid ":py:obj:`focus_distance `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Distance from the camera to the focus plane (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid ":py:obj:`f_stop `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Lens aperture." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid ":py:obj:`horizontal_aperture `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Horizontal aperture (in mm)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid ":py:obj:`horizontal_aperture_offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Offsets Resolution/Film gate horizontally." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid ":py:obj:`vertical_aperture_offset `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Offsets Resolution/Film gate vertically." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid ":py:obj:`lock_camera `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Locks the camera in the Omniverse viewport." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1 +msgid "Type of projection to use for the camera. Defaults to \"pinhole\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:3 +msgid "Currently only \"pinhole\" is supported." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.clipping_range:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.clipping_range:1 +msgid "Near and far clipping distances (in m). Defaults to (0.01, 1e6)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.clipping_range:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.clipping_range:3 +msgid "The minimum clipping range will shift the camera forward by the specified distance. Don't set it too high to avoid issues for distance related data types (e.g., ``distance_to_image_plane``)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focal_length:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focal_length:1 +msgid "Perspective focal length (in cm). Defaults to 24.0cm." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focal_length:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focal_length:3 +msgid "Longer lens lengths narrower FOV, shorter lens lengths wider FOV." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focus_distance:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focus_distance:1 +msgid "Distance from the camera to the focus plane (in m). Defaults to 400.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focus_distance:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focus_distance:3 +msgid "The distance at which perfect sharpness is achieved." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.f_stop:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.f_stop:1 +msgid "Lens aperture. Defaults to 0.0, which turns off focusing." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.f_stop:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.f_stop:3 +msgid "Controls Distance Blurring. Lower Numbers decrease focus range, larger numbers increase it." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture:1 +msgid "Horizontal aperture (in mm). Defaults to 20.955mm." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture:3 +msgid "Emulates sensor/film width on a camera." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture:5 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture:5 +msgid "The default value is the horizontal aperture of a 35 mm spherical projector." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture_offset:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture_offset:1 +msgid "Offsets Resolution/Film gate horizontally. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture_offset:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture_offset:1 +msgid "Offsets Resolution/Film gate vertically. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.lock_camera:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.lock_camera:1 +msgid "Locks the camera in the Omniverse viewport. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.lock_camera:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.lock_camera:3 +msgid "If True, then the camera remains fixed at its configured transform. This is useful when wanting to view the camera output on the GUI and not accidentally moving the camera through the GUI interactions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.sensors_cfg.FisheyeCameraCfg:3 +msgid "For more information on the parameters, please refer to the `camera documentation `__." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid ":py:obj:`projection_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid ":py:obj:`fisheye_nominal_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Nominal width of fisheye lens model (in pixels)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid ":py:obj:`fisheye_nominal_height `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Nominal height of fisheye lens model (in pixels)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid ":py:obj:`fisheye_optical_centre_x `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Horizontal optical centre position of fisheye lens model (in pixels)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid ":py:obj:`fisheye_optical_centre_y `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Vertical optical centre position of fisheye lens model (in pixels)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid ":py:obj:`fisheye_max_fov `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Maximum field of view of fisheye lens model (in degrees)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid ":py:obj:`fisheye_polynomial_a `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "First component of fisheye polynomial." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid ":py:obj:`fisheye_polynomial_b `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Second component of fisheye polynomial." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid ":py:obj:`fisheye_polynomial_c `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Third component of fisheye polynomial." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid ":py:obj:`fisheye_polynomial_d `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Fourth component of fisheye polynomial." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid ":py:obj:`fisheye_polynomial_e `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Fifth component of fisheye polynomial." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid ":py:obj:`fisheye_polynomial_f `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors_cfg.py:docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Sixth component of fisheye polynomial." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1 +msgid "Type of projection to use for the camera. Defaults to \"fisheye_polynomial\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:3 +msgid "Available options:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:5 +msgid "``\"fisheye_orthographic\"``: Fisheye camera model using orthographic correction." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:6 +msgid "``\"fisheye_equidistant\"``: Fisheye camera model using equidistant correction." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:7 +msgid "``\"fisheye_equisolid\"``: Fisheye camera model using equisolid correction." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:8 +msgid "``\"fisheye_polynomial\"``: Fisheye camera model with :math:`360^{\\circ}` spherical projection." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:9 +msgid "``\"fisheye_spherical\"``: Fisheye camera model with :math:`360^{\\circ}` full-frame projection." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_width:1 +msgid "Nominal width of fisheye lens model (in pixels). Defaults to 1936.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_height:1 +msgid "Nominal height of fisheye lens model (in pixels). Defaults to 1216.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_x:1 +msgid "Horizontal optical centre position of fisheye lens model (in pixels). Defaults to 970.94244." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_y:1 +msgid "Vertical optical centre position of fisheye lens model (in pixels). Defaults to 600.37482." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_max_fov:1 +msgid "Maximum field of view of fisheye lens model (in degrees). Defaults to 200.0 degrees." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_a:1 +msgid "First component of fisheye polynomial. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_b:1 +msgid "Second component of fisheye polynomial. Defaults to 0.00245." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_c:1 +msgid "Third component of fisheye polynomial. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_d:1 +msgid "Fourth component of fisheye polynomial. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_e:1 +msgid "Fifth component of fisheye polynomial. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_f:1 +msgid "Sixth component of fisheye polynomial. Defaults to 0.0." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:156 +msgid "From Files" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/__init__.py:docstring of omni.isaac.lab.sim.spawners.from_files:3 +msgid "Currently, the following spawners are supported:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/__init__.py:docstring of omni.isaac.lab.sim.spawners.from_files:5 +msgid ":class:`UsdFileCfg`: Spawn an asset from a USD file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/__init__.py:docstring of omni.isaac.lab.sim.spawners.from_files:6 +msgid ":class:`UrdfFileCfg`: Spawn an asset from a URDF file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/__init__.py:docstring of omni.isaac.lab.sim.spawners.from_files:7 +msgid ":class:`GroundPlaneCfg`: Spawn a ground plane using the grid-world USD file." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:166::1 +msgid ":py:obj:`UrdfFileCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:166::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UrdfFileCfg:1 +msgid "URDF file to spawn asset from." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:166::1 +msgid ":py:obj:`UsdFileCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:166::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UsdFileCfg:1 +msgid "USD file to spawn asset from." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:166::1 +msgid ":py:obj:`GroundPlaneCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:166::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.GroundPlaneCfg:1 +msgid "Create a ground plane prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:1 +msgid "Spawn an asset from a URDF file and override the settings with the given config." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:3 +msgid "It uses the :class:`UrdfConverter` class to create a USD file from URDF. This file is then imported at the specified prim path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:6 +msgid "In case a prim already exists at the given prim path, then the function does not create a new prim or throw an error that the prim already exists. Instead, it just takes the existing prim and overrides the settings with the given config." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:18 +msgid "The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case the translation specified in the generated USD file is used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:20 +msgid "The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case the orientation specified in the generated USD file is used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:23 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:23 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:19 +msgid "The prim of the spawned asset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:25 +msgid "If the URDF file does not exist at the given path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UrdfFileCfg:3 +msgid "It uses the :class:`UrdfConverter` class to create a USD file from URDF and spawns the imported USD file. See :meth:`spawn_from_urdf` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UrdfFileCfg:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UsdFileCfg:6 +msgid "The configuration parameters include various properties. If not `None`, these properties are modified on the spawned prim in a nested manner." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.asset_path:1 +msgid "The absolute path to the asset file to convert into USD." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_dir:1 +msgid "The output directory path to store the generated USD file. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_dir:3 +msgid "If None, it is resolved as ``/tmp/IsaacLab/usd_{date}_{time}_{random}``, where the parameters in braces are runtime generated." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_file_name:1 +msgid "The name of the generated usd file. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_file_name:3 +msgid "If None, it is resolved from the asset file name. For example, if the asset file name is ``\"my_asset.urdf\"``, then the generated USD file name is ``\"my_asset.usd\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_file_name:6 +msgid "If the providing file name does not end with \".usd\" or \".usda\", then the extension \".usd\" is appended to the file name." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.force_usd_conversion:1 +msgid "Force the conversion of the asset file to usd. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.force_usd_conversion:3 +msgid "If True, then the USD file is always generated. It will overwrite the existing USD file if it exists." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.make_instanceable:1 +msgid "Make the generated USD file instanceable. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.make_instanceable:5 +msgid "Instancing helps reduce the memory footprint of the asset when multiple copies of the asset are used in the scene. For more information, please check the USD documentation on `scene-graph instancing `_." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.import_inertia_tensor:1 +msgid "Import the inertia tensor from urdf. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.import_inertia_tensor:3 +msgid "If the ``\"inertial\"`` tag is missing, then it is imported as an identity." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fix_base:1 +msgid "Create a fix joint to the root/base link. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.merge_fixed_joints:1 +msgid "Consolidate links that are connected by fixed joints. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.self_collision:1 +msgid "Activate self-collisions between links of the articulation. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type:1 +msgid "The drive type used for joints. Defaults to ``\"none\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type:3 +msgid "The drive type dictates the loaded joint PD gains and USD attributes for joint control:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type:5 +msgid "``\"none\"``: The joint stiffness and damping are set to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type:6 +msgid "``\"position\"``: The joint stiff and damping are set based on the URDF file or provided configuration." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type:7 +msgid "``\"velocity\"``: The joint stiff is set to zero and damping is based on the URDF file or provided configuration." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.override_joint_dynamics:1 +msgid "Override the joint dynamics parsed from the URDF file. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_stiffness:1 +msgid "The default stiffness of the joint drive. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_damping:1 +msgid "The default damping of the joint drive. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_damping:5 +msgid "If ``override_joint_dynamics`` is True, the values parsed from the URDF joint tag ``\"\"`` are used. Otherwise, it is overridden by the configured value." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.link_density:1 +msgid "Default density used for links. Defaults to 0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.link_density:3 +msgid "This setting is only effective if ``\"inertial\"`` properties are missing in the URDF." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.convex_decompose_mesh:1 +msgid "Decompose a convex mesh into smaller pieces for a closer fit. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.scale:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.scale:1 +msgid "Scale of the asset. Defaults to None, in which case the scale is not modified." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.articulation_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.articulation_props:1 +msgid "Properties to apply to the articulation root." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fixed_tendons_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.fixed_tendons_props:1 +msgid "Properties to apply to the fixed tendons (if any)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.joint_drive_props:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.joint_drive_props:1 +msgid "Properties to apply to a joint." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material:1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material:1 +msgid "Visual material properties to override the visual material properties in the URDF file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:1 +msgid "Spawn an asset from a USD file and override the settings with the given config." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:3 +msgid "In the case of a USD file, the asset is spawned at the default prim specified in the USD file. If a default prim is not specified, then the asset is spawned at the root prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:14 +msgid "The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case the translation specified in the USD file is used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:16 +msgid "The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case the orientation specified in the USD file is used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:25 +msgid "If the USD file does not exist at the given path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UsdFileCfg:3 +msgid "See :meth:`spawn_from_usd` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path:1::1 +msgid ":py:obj:`usd_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path:1 +msgid "Path to the USD file to spawn asset from." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path:1::1 +msgid ":py:obj:`variants `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path:1::1 +msgid "Variants to select from in the input USD file." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.variants:1 +msgid "Variants to select from in the input USD file. Defaults to None, in which case no variants are applied." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.variants:3 +msgid "This can either be a configclass object, in which case each attribute is used as a variant set name and its specified value, or a dictionary mapping between the two. Please check the :meth:`~omni.isaac.lab.sim.utils.select_usd_variants` function for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:1 +msgid "Spawns a ground plane into the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:3 +msgid "This function loads the USD file containing the grid plane asset from Isaac Sim. It may not work with other assets for ground planes. In those cases, please use the `spawn_from_usd` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:9 +msgid "This function takes keyword arguments to be compatible with other spawners. However, it does not use any of the kwargs." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:12 +msgid "The path to spawn the asset at." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:21 +msgid "If the prim path already exists." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.GroundPlaneCfg:3 +msgid "This uses the USD for the standard grid-world ground plane from Isaac Sim by default." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +msgid ":py:obj:`usd_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +msgid ":py:obj:`color `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +msgid "The color of the ground plane." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +msgid ":py:obj:`size `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +msgid "The size of the ground plane." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files_cfg.py:docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +msgid ":py:obj:`physics_material `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.usd_path:1 +msgid "Path to the USD file to spawn asset from. Defaults to the grid-world ground plane." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.color:1 +msgid "The color of the ground plane. Defaults to (0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.color:3 +msgid "If None, then the color remains unchanged." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.size:1 +msgid "The size of the ground plane. Defaults to 100 m x 100 m." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.physics_material:1 +msgid "Physics material properties. Defaults to the default rigid body material." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:187 +msgid "Materials" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/__init__.py:docstring of omni.isaac.lab.sim.spawners.materials:3 +msgid "`Materials`_ are used to define the appearance and physical properties of objects in the simulation. In Omniverse, they are defined using NVIDIA's `Material Definition Language (MDL)`_. MDL is based on the physically-based rendering (PBR) model, which is a set of equations that describe how light interacts with a surface. The PBR model is used to create realistic-looking materials." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/__init__.py:docstring of omni.isaac.lab.sim.spawners.materials:8 +msgid "While MDL is primarily used for defining the appearance of objects, it can be extended to define the physical properties of objects. For example, the friction and restitution coefficients of a rubber material. A `physics material`_ can be assigned to a physics object to define its physical properties. There are different kinds of physics materials, such as rigid body material, deformable material, and fluid material." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/__init__.py:docstring of omni.isaac.lab.sim.spawners.materials:14 +msgid "In order to apply a material to an object, we \"bind\" the geometry of the object to the material. For this, we use the `USD Material Binding API`_. The material binding API takes in the path to the geometry and the path to the material, and binds them together." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/__init__.py:docstring of omni.isaac.lab.sim.spawners.materials:18 +msgid "For physics material, the material is bound to the physics object with the 'physics' purpose. When parsing physics material properties on an object, the following priority is used:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/__init__.py:docstring of omni.isaac.lab.sim.spawners.materials:21 +msgid "Material binding with a 'physics' purpose (physics material)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/__init__.py:docstring of omni.isaac.lab.sim.spawners.materials:22 +msgid "Material binding with no purpose (visual material)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/__init__.py:docstring of omni.isaac.lab.sim.spawners.materials:23 +msgid "Material binding with a 'physics' purpose on the `Physics Scene`_ prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/__init__.py:docstring of omni.isaac.lab.sim.spawners.materials:24 +msgid "Default values of material properties inside PhysX." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/__init__.py:docstring of omni.isaac.lab.sim.spawners.materials:43 +msgid "Usage:" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +msgid ":py:obj:`VisualMaterialCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.VisualMaterialCfg:1 +msgid "Configuration parameters for creating a visual material." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +msgid ":py:obj:`PreviewSurfaceCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.PreviewSurfaceCfg:1 +msgid "Configuration parameters for creating a preview surface." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +msgid ":py:obj:`MdlFileCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.MdlFileCfg:1 +msgid "Configuration parameters for loading an MDL material from a file." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +msgid ":py:obj:`GlassMdlCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.GlassMdlCfg:1 +msgid "Configuration parameters for loading a glass MDL material." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +msgid ":py:obj:`PhysicsMaterialCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.PhysicsMaterialCfg:1 +msgid "Configuration parameters for creating a physics material." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +msgid ":py:obj:`RigidBodyMaterialCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.RigidBodyMaterialCfg:1 +msgid "Physics material parameters for rigid bodies." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:203 +msgid "Visual Materials" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:1 +msgid "Create a preview surface prim and override the settings with the given config." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:3 +msgid "A preview surface is a physically-based surface that handles simple shaders while supporting both *specular* and *metallic* workflows. All color inputs are in linear color space (RGB). For more information, see the `documentation `__." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:7 +msgid "The function calls the USD command `CreatePreviewSurfaceMaterialPrim`_ to create the prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.PreviewSurfaceCfg:3 +msgid "See :meth:`spawn_preview_surface` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid ":py:obj:`diffuse_color `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "The RGB diffusion color." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid ":py:obj:`emissive_color `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "The RGB emission component of the surface." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid ":py:obj:`roughness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "The roughness for specular lobe." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid ":py:obj:`metallic `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "The metallic component." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid ":py:obj:`opacity `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "The opacity of the surface." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1 +msgid "The RGB diffusion color. This is the base color of the surface. Defaults to a dark gray." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.emissive_color:1 +msgid "The RGB emission component of the surface. Defaults to black." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.roughness:1 +msgid "The roughness for specular lobe. Ranges from 0 (smooth) to 1 (rough). Defaults to 0.5." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.metallic:1 +msgid "The metallic component. Ranges from 0 (dielectric) to 1 (metal). Defaults to 0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.opacity:1 +msgid "The opacity of the surface. Ranges from 0 (transparent) to 1 (opaque). Defaults to 1." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.opacity:3 +msgid "Opacity only affects the surface's appearance during interactive rendering." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:1 +msgid "Load a material from its MDL file and override the settings with the given config." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:3 +msgid "NVIDIA's `Material Definition Language (MDL) `__ is a language for defining physically-based materials. The MDL file format is a binary format that can be loaded by Omniverse and other applications such as Adobe Substance Designer. To learn more about MDL, see the `documentation `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:8 +msgid "The function calls the USD command `CreateMdlMaterialPrim`_ to create the prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.MdlFileCfg:3 +msgid "See :meth:`spawn_from_mdl_file` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid ":py:obj:`mdl_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1 +msgid "The path to the MDL material." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid ":py:obj:`project_uvw `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid "Whether to project the UVW coordinates of the material." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid ":py:obj:`albedo_brightness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid "Multiplier for the diffuse color of the material." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid ":py:obj:`texture_scale `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid "The scale of the texture." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:3 +msgid "NVIDIA Omniverse provides various MDL materials in the NVIDIA Nucleus. To use these materials, you can set the path of the material in the nucleus directory using the ``{NVIDIA_NUCLEUS_DIR}`` variable. This is internally resolved to the path of the NVIDIA Nucleus directory on the host machine through the attribute :attr:`omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:9 +msgid "For example, to use the \"Aluminum_Anodized\" material, you can set the path to: ``{NVIDIA_NUCLEUS_DIR}/Materials/Base/Metals/Aluminum_Anodized.mdl``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.project_uvw:1 +msgid "Whether to project the UVW coordinates of the material. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.albedo_brightness:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.project_uvw:3 +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.texture_scale:3 +msgid "If None, then the default setting in the MDL material will be used." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.albedo_brightness:1 +msgid "Multiplier for the diffuse color of the material. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.MdlFileCfg.texture_scale:1 +msgid "The scale of the texture. Defaults to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.GlassMdlCfg:3 +msgid "This is a convenience class for loading a glass MDL material. For more information on glass materials, see the `documentation `__." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.GlassMdlCfg:7 +msgid "The default values are taken from the glass material in the NVIDIA Nucleus." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid ":py:obj:`mdl_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid ":py:obj:`glass_color `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid "The RGB color or tint of the glass." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid ":py:obj:`frosting_roughness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid "The amount of reflectivity of the surface." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid ":py:obj:`thin_walled `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid "Whether to perform thin-walled refraction." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid ":py:obj:`glass_ior `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/visual_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid "The incidence of refraction to control how much light is bent when passing through the glass." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1 +msgid "The path to the MDL material. Defaults to the glass material in the NVIDIA Nucleus." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_color:1 +msgid "The RGB color or tint of the glass. Defaults to white." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.frosting_roughness:1 +msgid "The amount of reflectivity of the surface. Ranges from 0 (perfectly clear) to 1 (frosted). Defaults to 0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.thin_walled:1 +msgid "Whether to perform thin-walled refraction. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_ior:1 +msgid "The incidence of refraction to control how much light is bent when passing through the glass. Defaults to 1.491, which is the IOR of glass." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:226 +msgid "Physical Materials" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.PhysicsMaterialCfg:3 +msgid "Physics material are PhysX schemas that can be applied to a USD material prim to define the physical properties related to the material. For example, the friction coefficient, restitution coefficient, etc. For more information on physics material, please refer to the `PhysX documentation `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:1 +msgid "Create material with rigid-body physics properties." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:3 +msgid "Rigid body materials are used to define the physical properties to meshes of a rigid body. These include the friction, restitution, and their respective combination modes. For more information on rigid body material, please refer to the `documentation on PxMaterial `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:14 +msgid "The configuration for the physics material." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:16 +msgid "The spawned rigid body material prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:18 +msgid "When a prim already exists at the specified prim path and is not a material." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.RigidBodyMaterialCfg:3 +msgid "See :meth:`spawn_rigid_body_material` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.RigidBodyMaterialCfg:7 +msgid "The default values are the `default values used by PhysX 5 `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid ":py:obj:`static_friction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "The static friction coefficient." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid ":py:obj:`dynamic_friction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "The dynamic friction coefficient." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid ":py:obj:`restitution `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "The restitution coefficient." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid ":py:obj:`improve_patch_friction `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "Whether to enable patch friction." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid ":py:obj:`friction_combine_mode `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "Determines the way friction will be combined during collisions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid ":py:obj:`restitution_combine_mode `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "Determines the way restitution coefficient will be combined during collisions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid ":py:obj:`compliant_contact_stiffness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "Spring stiffness for a compliant contact model using implicit springs." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid ":py:obj:`compliant_contact_damping `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/materials/physics_materials_cfg.py:docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "Damping coefficient for a compliant contact model using implicit springs." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1 +msgid "The static friction coefficient. Defaults to 0.5." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.dynamic_friction:1 +msgid "The dynamic friction coefficient. Defaults to 0.5." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution:1 +msgid "The restitution coefficient. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.improve_patch_friction:1 +msgid "Whether to enable patch friction. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.friction_combine_mode:1 +msgid "Determines the way friction will be combined during collisions. Defaults to `\"average\"`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.friction_combine_mode:5 +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution_combine_mode:5 +msgid "When two physics materials with different combine modes collide, the combine mode with the higher priority will be used. The priority order is provided `here `_." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution_combine_mode:1 +msgid "Determines the way restitution coefficient will be combined during collisions. Defaults to `\"average\"`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_stiffness:1 +msgid "Spring stiffness for a compliant contact model using implicit springs. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_stiffness:3 +msgid "A higher stiffness results in behavior closer to a rigid contact. The compliant contact model is only enabled if the stiffness is larger than 0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_damping:1 +msgid "Damping coefficient for a compliant contact model using implicit springs. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_damping:3 +msgid "Irrelevant if compliant contacts are disabled when :obj:`compliant_contact_stiffness` is set to zero and rigid contacts are active." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.terrains.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.terrains.pot new file mode 100644 index 0000000000..297b4cf4d3 --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.terrains.pot @@ -0,0 +1,2550 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:2 +msgid "omni.isaac.lab.terrains" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/__init__.py:docstring of omni.isaac.lab.terrains:1 +msgid "Sub-package with utilities for creating terrains procedurally." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/__init__.py:docstring of omni.isaac.lab.terrains:3 +msgid "There are two main components in this package:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/__init__.py:docstring of omni.isaac.lab.terrains:5 +msgid ":class:`TerrainGenerator`: This class procedurally generates terrains based on the passed sub-terrain configuration. It creates a ``trimesh`` mesh object and contains the origins of each generated sub-terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/__init__.py:docstring of omni.isaac.lab.terrains:8 +msgid ":class:`TerrainImporter`: This class mainly deals with importing terrains from different possible sources and adding them to the simulator as a prim object. It also stores the terrain mesh into a dictionary called :obj:`TerrainImporter.warp_meshes` that later can be used for ray-casting. The following functions are available for importing terrains:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/__init__.py:docstring of omni.isaac.lab.terrains:13 +msgid ":meth:`TerrainImporter.import_ground_plane`: spawn a grid plane which is default in isaacsim/isaaclab." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/__init__.py:docstring of omni.isaac.lab.terrains:14 +msgid ":meth:`TerrainImporter.import_mesh`: spawn a prim from a ``trimesh`` object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/__init__.py:docstring of omni.isaac.lab.terrains:15 +msgid ":meth:`TerrainImporter.import_usd`: spawn a prim as reference to input USD file." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +msgid ":py:obj:`TerrainImporter `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1 +msgid "A class to handle terrain meshes and import them into the simulator." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +msgid ":py:obj:`TerrainImporterCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.terrain_importer_cfg.TerrainImporterCfg:1 +msgid "Configuration for the terrain manager." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +msgid ":py:obj:`TerrainGenerator `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:1 +msgid "Terrain generator to handle different terrain generation functions." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +msgid ":py:obj:`TerrainGeneratorCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.terrain_generator_cfg.TerrainGeneratorCfg:1 +msgid "Configuration for the terrain generator." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +msgid ":py:obj:`SubTerrainBaseCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg:1 +msgid "Base class for terrain configurations." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:18 +msgid "Terrain importer" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:3 +msgid "We assume that a terrain mesh comprises of sub-terrains that are arranged in a grid with rows ``num_rows`` and columns ``num_cols``. The terrain origins are the positions of the sub-terrains where the robot should be spawned." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:7 +msgid "Based on the configuration, the terrain importer handles computing the environment origins from the sub-terrain origins. In a typical setup, the number of sub-terrains (:math:`num\\_rows \\times num\\_cols`) is smaller than the number of environments (:math:`num\\_envs`). In this case, the environment origins are computed by sampling the sub-terrain origins." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:12 +msgid "If a curriculum is used, it is possible to update the environment origins to terrain origins that correspond to a harder difficulty. This is done by calling :func:`update_terrain_levels`. The idea comes from game-based curriculum. For example, in a game, the player starts with easy levels and progresses to harder levels." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "Initialize the terrain importer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid ":py:obj:`set_debug_vis `\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.set_debug_vis:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "Set the debug visualization of the terrain importer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid ":py:obj:`import_ground_plane `\\ \\(key\\[\\, size\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_ground_plane:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "Add a plane to the terrain importer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid ":py:obj:`import_mesh `\\ \\(key\\, mesh\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_mesh:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "Import a mesh into the simulator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid ":py:obj:`import_usd `\\ \\(key\\, usd\\_path\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "Import a mesh from a USD file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid ":py:obj:`configure_env_origins `\\ \\(\\[origins\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.configure_env_origins:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "Configure the origins of the environments based on the added terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid ":py:obj:`update_env_origins `\\ \\(env\\_ids\\, move\\_up\\, move\\_down\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.update_env_origins:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "Update the environment origins based on the terrain levels." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.terrain_generator_cfg.TerrainGeneratorCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.terrain_importer_cfg.TerrainImporterCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid ":py:obj:`meshes `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporter.meshes:1 +msgid "A dictionary containing the names of the meshes and their keys." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid ":py:obj:`warp_meshes `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporter.warp_meshes:1 +msgid "A dictionary containing the names of the warp meshes and their keys." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid ":py:obj:`env_origins `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "The origins of the environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid ":py:obj:`terrain_origins `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "The origins of the sub-terrains in the added terrain mesh." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid ":py:obj:`has_debug_vis_implementation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.TerrainImporter.has_debug_vis_implementation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "Whether the terrain importer has a debug visualization implemented." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid ":py:obj:`flat_patches `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.TerrainImporter.flat_patches:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "A dictionary containing the sampled valid (flat) patches for the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.configure_env_origins:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_ground_plane:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_mesh:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.color_meshes_by_height:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.create_prim_from_mesh:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:3 +msgid "The configuration for the terrain importer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_ground_plane:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_mesh:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:5 +msgid "If input terrain type is not supported." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:6 +msgid "If terrain type is 'generator' and no configuration provided for ``terrain_generator``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:7 +msgid "If terrain type is 'usd' and no configuration provided for ``usd_path``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:8 +msgid "If terrain type is 'usd' or 'plane' and no configuration provided for ``env_spacing``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporter.env_origins:1 +msgid "The origins of the environments. Shape is (num_envs, 3)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporter.terrain_origins:1 +msgid "The origins of the sub-terrains in the added terrain mesh. Shape is (num_rows, num_cols, 3)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporter.terrain_origins:3 +msgid "If None, then it is assumed no sub-terrains exist. The environment origins are computed in a grid." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.TerrainImporter.has_debug_vis_implementation:3 +msgid "This always returns True." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.TerrainImporter.flat_patches:3 +msgid "This is only available if the terrain type is 'generator'. For other terrain types, this feature is not available and the function returns an empty dictionary." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.TerrainImporter.flat_patches:6 +msgid "Please refer to the :attr:`TerrainGenerator.flat_patches` for more information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.set_debug_vis:3 +msgid "Whether to visualize the terrain origins." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.set_debug_vis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.color_meshes_by_height:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.set_debug_vis:5 +msgid "Whether the debug visualization was successfully set. False if the terrain importer does not support debug visualization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.set_debug_vis:8 +msgid "If terrain origins are not configured." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_ground_plane:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_mesh:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd:12 +msgid "The key to store the mesh." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_ground_plane:4 +msgid "The size of the plane. Defaults to (2.0e6, 2.0e6)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_ground_plane:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_mesh:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd:15 +msgid "If a terrain with the same key already exists." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_mesh:3 +msgid "The mesh is imported into the simulator under the prim path ``cfg.prim_path/{key}``. The created path contains the mesh as a :class:`pxr.UsdGeom` instance along with visual or physics material prims." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_mesh:7 +msgid "The mesh to import." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd:3 +msgid "We assume that the USD file contains a single mesh. If the USD file contains multiple meshes, then the first mesh is used. The function mainly helps in registering the mesh into the warp meshes and the meshes dictionary." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd:9 +msgid "We do not apply any material properties to the mesh. The material properties should be defined in the USD file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd:13 +msgid "The path to the USD file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer.py:docstring of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.configure_env_origins:3 +msgid "The origins of the sub-terrains. Shape is (num_rows, num_cols, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid ":py:obj:`collision_group `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "The collision group of the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid ":py:obj:`prim_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.prim_path:1 +msgid "The absolute path of the USD terrain prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.num_envs:1 +msgid "The number of environment origins to consider." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid ":py:obj:`terrain_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "The type of terrain to generate." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid ":py:obj:`terrain_generator `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.terrain_generator:1 +msgid "The terrain generator configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid ":py:obj:`usd_path `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.usd_path:1 +msgid "The path to the USD file containing the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid ":py:obj:`env_spacing `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "The spacing between environment origins when defined in a grid." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid ":py:obj:`visual_material `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "The visual material of the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid ":py:obj:`physics_material `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "The physics material of the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid ":py:obj:`max_init_terrain_level `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "The maximum initial terrain level for defining environment origins." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid ":py:obj:`debug_vis `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_importer_cfg.py:docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "Whether to enable visualization of terrain origins for the terrain." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1 +msgid "The collision group of the terrain. Defaults to -1." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.prim_path:3 +msgid "All sub-terrains are imported relative to this prim path." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.terrain_type:1 +msgid "The type of terrain to generate. Defaults to \"generator\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.terrain_type:3 +msgid "Available options are \"plane\", \"usd\", and \"generator\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.terrain_generator:3 +msgid "Only used if ``terrain_type`` is set to \"generator\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.usd_path:3 +msgid "Only used if ``terrain_type`` is set to \"usd\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.env_spacing:1 +msgid "The spacing between environment origins when defined in a grid. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.env_spacing:3 +msgid "This parameter is used only when the ``terrain_type`` is ``\"plane\"`` or ``\"usd\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.visual_material:1 +msgid "The visual material of the terrain. Defaults to a dark gray color material." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.visual_material:3 +msgid "The material is created at the path: ``{prim_path}/visualMaterial``. If `None`, then no material is created." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.visual_material:6 +msgid "This parameter is used only when the ``terrain_type`` is ``\"generator\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.physics_material:1 +msgid "The physics material of the terrain. Defaults to a default physics material." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.physics_material:3 +msgid "The material is created at the path: ``{prim_path}/physicsMaterial``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.physics_material:6 +msgid "This parameter is used only when the ``terrain_type`` is ``\"generator\"`` or ``\"plane\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.max_init_terrain_level:1 +msgid "The maximum initial terrain level for defining environment origins. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.max_init_terrain_level:3 +msgid "The terrain levels are specified by the number of rows in the grid arrangement of sub-terrains. If None, then the initial terrain level is set to the maximum terrain level available (``num_rows - 1``)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.max_init_terrain_level:7 +msgid "This parameter is used only when sub-terrain origins are defined." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.debug_vis:1 +msgid "Whether to enable visualization of terrain origins for the terrain. Defaults to False." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:29 +msgid "Terrain generator" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:3 +msgid "The terrains are represented as meshes. These are obtained either from height fields or by using the `trimesh `__ library. The height field representation is more flexible, but it is less computationally and memory efficient than the trimesh representation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:7 +msgid "All terrain generation functions take in the argument :obj:`difficulty` which determines the complexity of the terrain. The difficulty is a number between 0 and 1, where 0 is the easiest and 1 is the hardest. In most cases, the difficulty is used for linear interpolation between different terrain parameters. For example, in a pyramid stairs terrain the step height is interpolated between the specified minimum and maximum step height." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:13 +msgid "Each sub-terrain has a corresponding configuration class that can be used to specify the parameters of the terrain. The configuration classes are inherited from the :class:`SubTerrainBaseCfg` class which contains the common parameters for all terrains." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:17 +msgid "If a curriculum is used, the terrains are generated based on their difficulty parameter. The difficulty is varied linearly over the number of rows (i.e. along x). If a curriculum is not used, the terrains are generated randomly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:21 +msgid "If the :obj:`cfg.flat_patch_sampling` is specified for a sub-terrain, flat patches are sampled on the terrain. These can be used for spawning robots, targets, etc. The sampled patches are stored in the :obj:`flat_patches` dictionary. The key specifies the intention of the flat patches and the value is a tensor containing the flat patches for each sub-terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:26 +msgid "If the flag :obj:`cfg.use_cache` is set to True, the terrains are cached based on their sub-terrain configurations. This means that if the same sub-terrain configuration is used multiple times, the terrain is only generated once and then reused. This is useful when generating complex sub-terrains that take a long time to generate." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\[\\, device\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:1::1 +msgid "Initialize the terrain generator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +msgid ":py:obj:`flat_patches `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +#: ../../docstring of omni.isaac.lab.terrains.TerrainGenerator.flat_patches:1 +msgid "A dictionary of sampled valid (flat) patches for each sub-terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +msgid ":py:obj:`terrain_meshes `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +#: ../../docstring of omni.isaac.lab.terrains.TerrainGenerator.terrain_meshes:1 +msgid "List of trimesh.Trimesh objects for all the generated sub-terrains." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +msgid ":py:obj:`terrain_origins `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +msgid "The origin of each sub-terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +msgid ":py:obj:`terrain_mesh `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +#: ../../docstring of omni.isaac.lab.terrains.TerrainGenerator.terrain_mesh:1 +msgid "A single trimesh.Trimesh object for all the generated sub-terrains." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py:docstring of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:4 +msgid "The device to use for the flat patches tensor." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGenerator.flat_patches:3 +msgid "The dictionary keys are the names of the flat patch sampling configurations. This maps to a tensor containing the flat patches for each sub-terrain. The shape of the tensor is (num_rows, num_cols, num_patches, 3)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGenerator.flat_patches:7 +msgid "For instance, the key \"root_spawn\" maps to a tensor containing the flat patches for spawning an asset. Similarly, the key \"target_spawn\" maps to a tensor containing the flat patches for setting targets." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGenerator.terrain_origins:1 +msgid "The origin of each sub-terrain. Shape is (num_rows, num_cols, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`seed `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "The seed for the random number generator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`curriculum `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "Whether to use the curriculum mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`size `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.size:1 +msgid "The width (along x) and length (along y) of each sub-terrain (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`border_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +msgid "The width of the border around the terrain (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`num_rows `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "Number of rows of sub-terrains to generate." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`num_cols `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "Number of columns of sub-terrains to generate." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`color_scheme `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "Color scheme to use for the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`horizontal_scale `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "The discretization of the terrain along the x and y axes (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`vertical_scale `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "The discretization of the terrain along the z axis (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`slope_threshold `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "The slope threshold above which surfaces are made vertical." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`sub_terrains `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.sub_terrains:1 +msgid "Dictionary of sub-terrain configurations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`difficulty_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "The range of difficulty values for the sub-terrains." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`use_cache `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "Whether to load the terrain from cache if it exists." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`cache_dir `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "The directory where the terrain cache is stored." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1 +msgid "The seed for the random number generator. Defaults to None, in which case the seed is not set." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.curriculum:1 +msgid "Whether to use the curriculum mode. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.curriculum:3 +msgid "If True, the terrains are generated based on their difficulty parameter. Otherwise, they are randomly generated." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.size:3 +msgid "This value is passed on to all the sub-terrain configurations." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.border_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.border_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1 +msgid "The width of the border around the terrain (in m). Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.num_rows:1 +msgid "Number of rows of sub-terrains to generate. Defaults to 1." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.num_cols:1 +msgid "Number of columns of sub-terrains to generate. Defaults to 1." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme:1 +msgid "Color scheme to use for the terrain. Defaults to \"none\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme:3 +msgid "The available color schemes are:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme:5 +msgid "\"height\": Color based on the height of the terrain." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme:6 +msgid "\"random\": Random color scheme." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme:7 +msgid "\"none\": No color scheme." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.horizontal_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.horizontal_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.horizontal_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.horizontal_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.horizontal_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.horizontal_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.horizontal_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.horizontal_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.horizontal_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.horizontal_scale:1 +msgid "The discretization of the terrain along the x and y axes (in m). Defaults to 0.1." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.horizontal_scale:3 +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.slope_threshold:5 +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.vertical_scale:3 +msgid "This value is passed on to all the height field sub-terrain configurations." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.vertical_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.vertical_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.vertical_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.vertical_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.vertical_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.vertical_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.vertical_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.vertical_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.vertical_scale:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.vertical_scale:1 +msgid "The discretization of the terrain along the z axis (in m). Defaults to 0.005." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.slope_threshold:1 +msgid "The slope threshold above which surfaces are made vertical. Defaults to 0.75." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.slope_threshold:3 +msgid "If None no correction is applied." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.sub_terrains:3 +msgid "The keys correspond to the name of the sub-terrain configuration and the values are the corresponding configurations." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range:1 +msgid "The range of difficulty values for the sub-terrains. Defaults to (0.0, 1.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range:3 +msgid "If curriculum is enabled, the terrains will be generated based on this range in ascending order of difficulty. Otherwise, the terrains will be generated based on this range in a random order." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.use_cache:1 +msgid "Whether to load the terrain from cache if it exists. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.cache_dir:1 +msgid "The directory where the terrain cache is stored. Defaults to \"/tmp/isaaclab/terrains\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg:3 +msgid "All the sub-terrain configurations must inherit from this class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg:5 +msgid "The :attr:`size` attribute is the size of the generated sub-terrain. Based on this, the terrain must extend from :math:`(0, 0)` to :math:`(size[0], size[1])`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +msgid ":py:obj:`function `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +#: ../../docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1 +msgid "Function to generate the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +msgid ":py:obj:`proportion `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +msgid "Proportion of the terrain to generate." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +msgid ":py:obj:`size `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +#: ../../docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.size:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.size:1 +msgid "The width (along x) and length (along y) of the terrain (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +msgid ":py:obj:`flat_patch_sampling `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator_cfg.py:docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +msgid "Dictionary of configurations for sampling flat patches on the sub-terrain." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:3 +msgid "This function must take as input the terrain difficulty and the configuration parameters and return a tuple with a list of ``trimesh`` mesh objects and the terrain origin." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.proportion:1 +msgid "Proportion of the terrain to generate. Defaults to 1.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.proportion:3 +msgid "This is used to generate a mix of terrains. The proportion corresponds to the probability of sampling the particular terrain. For example, if there are two terrains, A and B, with proportions 0.3 and 0.7, respectively, then the probability of sampling terrain A is 0.3 and the probability of sampling terrain B is 0.7." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.flat_patch_sampling:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.flat_patch_sampling:1 +msgid "Dictionary of configurations for sampling flat patches on the sub-terrain. Defaults to None, in which case no flat patch sampling is performed." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.flat_patch_sampling:4 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.flat_patch_sampling:4 +msgid "The keys correspond to the name of the flat patch sampling configuration and the values are the corresponding configurations." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:43 +msgid "Height fields" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/__init__.py:docstring of omni.isaac.lab.terrains.height_field:1 +msgid "This sub-module provides utilities to create different terrains as height fields (HF)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/__init__.py:docstring of omni.isaac.lab.terrains.height_field:3 +msgid "Height fields are a 2.5D terrain representation that is used in robotics to obtain the height of the terrain at a given point. This is useful for controls and planning algorithms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/__init__.py:docstring of omni.isaac.lab.terrains.height_field:6 +msgid "Each terrain is represented as a 2D numpy array with discretized heights. The shape of the array is (width, length), where width and length are the number of points along the x and y axis, respectively. The height of the terrain at a given point is obtained by indexing the array with the corresponding x and y coordinates." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/__init__.py:docstring of omni.isaac.lab.terrains.height_field:13 +msgid "When working with height field terrains, it is important to remember that the terrain is generated from a discretized 3D representation. This means that the height of the terrain at a given point is only an approximation of the real height of the terrain at that point. The discretization error is proportional to the size of the discretization cells. Therefore, it is important to choose a discretization size that is small enough for the application. A larger discretization size will result in a faster simulation, but the terrain will be less accurate." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:47 +msgid "All sub-terrains must inherit from the :class:`HfTerrainBaseCfg` class which contains the common parameters for all terrains generated from height fields." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg:1 +msgid "The base configuration for height field terrains." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +msgid ":py:obj:`border_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +msgid "The width of the border/padding around the terrain (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +msgid ":py:obj:`horizontal_scale `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +msgid ":py:obj:`vertical_scale `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +msgid ":py:obj:`slope_threshold `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.border_width:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.border_width:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.border_width:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.border_width:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.border_width:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.border_width:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.border_width:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.border_width:1 +msgid "The width of the border/padding around the terrain (in m). Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.border_width:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.border_width:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.border_width:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.border_width:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.border_width:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.border_width:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.border_width:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.border_width:3 +msgid "The border width is subtracted from the :obj:`size` of the terrain. If non-zero, it must be greater than or equal to the :obj:`horizontal scale`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.slope_threshold:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_threshold:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.slope_threshold:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_threshold:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.slope_threshold:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.slope_threshold:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.slope_threshold:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.slope_threshold:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.slope_threshold:1 +msgid "The slope threshold above which surfaces are made vertical. Defaults to None, in which case no correction is applied." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:56 +msgid "Random Uniform Terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:1 +msgid "Generate a terrain with height sampled uniformly from a specified range." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain:7 +msgid "The :obj:`difficulty` parameter is ignored for this terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:21 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:11 +msgid "The difficulty of the terrain. This is a value between 0 and 1." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:19 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:22 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:12 +msgid "The configuration for the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain:19 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:21 +msgid "The height field of the terrain as a 2D numpy array with discretized heights. The shape of the array is (width, length), where width and length are the number of points along the x and y axis, respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:16 +msgid "When the downsampled scale is smaller than the horizontal scale." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg:1 +msgid "Configuration for a random uniform height field terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range:1::1 +msgid ":py:obj:`noise_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range:1::1 +msgid "The minimum and maximum height noise (i.e." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range:1::1 +msgid ":py:obj:`noise_step `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range:1::1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_step:1 +msgid "The minimum height (in m) change between two points." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range:1::1 +msgid ":py:obj:`downsampled_scale `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range:1::1 +msgid "The distance between two randomly sampled points on the terrain." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range:1 +msgid "The minimum and maximum height noise (i.e. along z) of the terrain (in m)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.downsampled_scale:1 +msgid "The distance between two randomly sampled points on the terrain. Defaults to None, in which case the :obj:`horizontal scale` is used." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.downsampled_scale:4 +msgid "The heights are sampled at this resolution and interpolation is performed for intermediate points. This must be larger than or equal to the :obj:`horizontal scale`." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:66 +msgid "Pyramid Sloped Terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain:1 +msgid "Generate a terrain with a truncated pyramid structure." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain:3 +msgid "The terrain is a pyramid-shaped sloped surface with a slope of :obj:`slope` that trims into a flat platform at the center. The slope is defined as the ratio of the height change along the x axis to the width along the x axis. For example, a slope of 1.0 means that the height changes by 1 unit for every 1 unit of width." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain:5 +msgid "If the :obj:`cfg.inverted` flag is set to :obj:`True`, the terrain is inverted such that the platform is at the bottom." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg:1 +msgid "Configuration for a pyramid sloped height field terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range:1::1 +msgid ":py:obj:`slope_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range:1::1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_range:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range:1 +msgid "The slope of the terrain (in radians)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range:1::1 +msgid ":py:obj:`platform_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +msgid "The width of the square platform at the center of the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range:1::1 +msgid ":py:obj:`inverted `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range:1::1 +msgid "Whether the pyramid is inverted." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.platform_width:1 +msgid "The width of the square platform at the center of the terrain. Defaults to 1.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.inverted:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.inverted:1 +msgid "Whether the pyramid is inverted. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.inverted:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.inverted:3 +msgid "If True, the terrain is inverted such that the platform is at the bottom and the slopes are upwards." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg:1 +msgid "Configuration for an inverted pyramid sloped height field terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg:5 +msgid "This is a subclass of :class:`HfPyramidSlopedTerrainCfg` with :obj:`inverted` set to True. We make it as a separate class to make it easier to distinguish between the two and match the naming convention of the other terrains." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:81 +msgid "Pyramid Stairs Terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain:1 +msgid "Generate a terrain with a pyramid stair pattern." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain:3 +msgid "The terrain is a pyramid stair pattern which trims to a flat platform at the center of the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg:1 +msgid "Configuration for a pyramid stairs height field terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +msgid ":py:obj:`step_height_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_height_range:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_height_range:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_height_range:1 +msgid "The minimum and maximum height of the steps (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +msgid ":py:obj:`step_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_width:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_width:1 +msgid "The width of the steps (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +msgid ":py:obj:`platform_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +msgid ":py:obj:`inverted `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +msgid "Whether the pyramid stairs is inverted." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.inverted:1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.inverted:1 +msgid "Whether the pyramid stairs is inverted. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.inverted:3 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.inverted:3 +msgid "If True, the terrain is inverted such that the platform is at the bottom and the stairs are upwards." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg:1 +msgid "Configuration for an inverted pyramid stairs height field terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg:5 +msgid "This is a subclass of :class:`HfPyramidStairsTerrainCfg` with :obj:`inverted` set to True. We make it as a separate class to make it easier to distinguish between the two and match the naming convention of the other terrains." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:96 +msgid "Discrete Obstacles Terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain:1 +msgid "Generate a terrain with randomly generated obstacles as pillars with positive and negative heights." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain:3 +msgid "The terrain is a flat platform at the center of the terrain with randomly generated obstacles as pillars with positive and negative height. The obstacles are randomly generated cuboids with a random width and height. They are placed randomly on the terrain with a minimum distance of :obj:`cfg.platform_width` from the center of the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg:1 +msgid "Configuration for a discrete obstacles height field terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +msgid ":py:obj:`obstacle_height_mode `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +msgid "The mode to use for the obstacle height." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +msgid ":py:obj:`obstacle_width_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_width_range:1 +msgid "The minimum and maximum width of the obstacles (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +msgid ":py:obj:`obstacle_height_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_range:1 +msgid "The minimum and maximum height of the obstacles (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +msgid ":py:obj:`num_obstacles `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.num_obstacles:1 +msgid "The number of obstacles to generate." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +msgid ":py:obj:`platform_width `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1 +msgid "The mode to use for the obstacle height. Defaults to \"choice\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:3 +msgid "The following modes are supported: \"choice\", \"fixed\"." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:106 +msgid "Wave Terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:1 +msgid "Generate a terrain with a wave pattern." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:3 +msgid "The terrain is a flat platform at the center of the terrain with a wave pattern. The wave pattern is generated by adding sinusoidal waves based on the number of waves and the amplitude of the waves." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:6 +msgid "The height of the terrain at a point :math:`(x, y)` is given by:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:8 +msgid "h(x, y) = A \\left(\\sin\\left(\\frac{2 \\pi x}{\\lambda}\\right) + \\cos\\left(\\frac{2 \\pi y}{\\lambda}\\right) \\right)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:12 +msgid "where :math:`A` is the amplitude of the waves, :math:`\\lambda` is the wavelength of the waves." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:25 +msgid "When the number of waves is non-positive." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg:1 +msgid "Configuration for a wave height field terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion:1::1 +msgid ":py:obj:`amplitude_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion:1::1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.amplitude_range:1 +msgid "The minimum and maximum amplitude of the wave (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion:1::1 +msgid ":py:obj:`num_waves `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion:1::1 +msgid "The number of waves to generate." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.num_waves:1 +msgid "The number of waves to generate. Defaults to 1.0." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:116 +msgid "Stepping Stones Terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain:1 +msgid "Generate a terrain with a stepping stones pattern." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain:3 +msgid "The terrain is a stepping stones pattern which trims to a flat platform at the center of the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg:1 +msgid "Configuration for a stepping stones height field terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +msgid ":py:obj:`stone_height_max `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_height_max:1 +msgid "The maximum height of the stones (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +msgid ":py:obj:`stone_width_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_width_range:1 +msgid "The minimum and maximum width of the stones (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +msgid ":py:obj:`stone_distance_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_distance_range:1 +msgid "The minimum and maximum distance between stones (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +msgid ":py:obj:`holes_depth `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +msgid "The depth of the holes (negative obstacles)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/height_field/hf_terrains_cfg.py:docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +msgid ":py:obj:`platform_width `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.holes_depth:1 +msgid "The depth of the holes (negative obstacles). Defaults to -10.0." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:126 +msgid "Trimesh terrains" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/__init__.py:docstring of omni.isaac.lab.terrains.trimesh:1 +msgid "This sub-module provides methods to create different terrains using the ``trimesh`` library." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/__init__.py:docstring of omni.isaac.lab.terrains.trimesh:3 +msgid "In contrast to the height-field representation, the trimesh representation does not create arbitrarily small triangles. Instead, the terrain is represented as a single tri-mesh primitive. Thus, this representation is more computationally and memory efficient than the height-field representation, but it is not as flexible." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:132 +msgid "Flat terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain:1 +msgid "Generate a flat terrain as a plane." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain:15 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain:17 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain:18 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:24 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:14 +msgid "A tuple containing the tri-mesh of the terrain and the origin of the terrain (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg:1 +msgid "Configuration for a plane mesh terrain." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:142 +msgid "Pyramid terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain:5 +msgid "If :obj:`cfg.holes` is True, the terrain will have pyramid stairs of length or width :obj:`cfg.platform_width` (depending on the direction) with no steps in the remaining area. Additionally, no border will be added." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg:1 +msgid "Configuration for a pyramid stair mesh terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +msgid ":py:obj:`border_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +msgid ":py:obj:`step_height_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +msgid ":py:obj:`step_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +msgid ":py:obj:`platform_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +msgid ":py:obj:`holes `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +msgid "If True, the terrain will have holes in the steps." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.border_width:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:3 +msgid "The border is a flat terrain with the same height as the terrain." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.holes:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.holes:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.holes:1 +msgid "If True, the terrain will have holes in the steps. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.holes:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.holes:3 +msgid "If :obj:`holes` is True, the terrain will have pyramid stairs of length or width :obj:`platform_width` (depending on the direction) with no steps in the remaining area. Additionally, no border will be added." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:152 +msgid "Inverted pyramid terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain:1 +msgid "Generate a terrain with a inverted pyramid stair pattern." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain:3 +msgid "The terrain is an inverted pyramid stair pattern which trims to a flat platform at the center of the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg:1 +msgid "Configuration for an inverted pyramid stair mesh terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg:3 +msgid "This is the same as :class:`MeshPyramidStairsTerrainCfg` except that the steps are inverted." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:162 +msgid "Random grid terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:1 +msgid "Generate a terrain with cells of random heights and fixed width." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:3 +msgid "The terrain is generated in the x-y plane and has a height of 1.0. It is then divided into a grid of the specified size :obj:`cfg.grid_width`. Each grid cell is then randomly shifted in the z-direction by a value uniformly sampled between :obj:`cfg.grid_height_range`. At the center of the terrain, a platform of the specified width :obj:`cfg.platform_width` is generated." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:8 +msgid "If :obj:`cfg.holes` is True, the terrain will have randomized grid cells only along the plane extending from the platform (like a plus sign). The remaining area remains empty and no border will be added." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:22 +msgid "If the terrain is not square. This method only supports square terrains." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:23 +msgid "If the grid width is large such that the border width is negative." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg:1 +msgid "Configuration for a random grid mesh terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +msgid ":py:obj:`grid_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1 +msgid "The width of the grid cells (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +msgid ":py:obj:`grid_height_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_height_range:1 +msgid "The minimum and maximum height of the grid cells (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +msgid ":py:obj:`platform_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +msgid ":py:obj:`holes `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.holes:3 +msgid "If :obj:`holes` is True, the terrain will have randomized grid cells only along the plane extending from the platform (like a plus sign). The remaining area remains empty and no border will be added." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:172 +msgid "Rails terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain:1 +msgid "Generate a terrain with box rails as extrusions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain:3 +msgid "The terrain contains two sets of box rails created as extrusions. The first set (inner rails) is extruded from the platform at the center of the terrain, and the second set is extruded between the first set of rails and the terrain border. Each set of rails is extruded to the same height." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain:11 +msgid "The difficulty of the terrain. this is a value between 0 and 1." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg:1 +msgid "Configuration for a terrain with box rails as extrusions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range:1::1 +msgid ":py:obj:`rail_thickness_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range:1 +msgid "The thickness of the inner and outer rails (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range:1::1 +msgid ":py:obj:`rail_height_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_height_range:1 +msgid "The minimum and maximum height of the rails (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range:1::1 +msgid ":py:obj:`platform_width `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:182 +msgid "Pit terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain:1 +msgid "Generate a terrain with a pit with levels (stairs) leading out of the pit." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain:3 +msgid "The terrain contains a platform at the center and a staircase leading out of the pit. The staircase is a series of steps that are aligned along the x- and y- axis. The steps are created by extruding a ring along the x- and y- axis. If :obj:`is_double_pit` is True, the pit contains two levels." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg:1 +msgid "Configuration for a terrain with a pit that leads out of the pit." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range:1::1 +msgid ":py:obj:`pit_depth_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range:1 +msgid "The minimum and maximum height of the pit (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range:1::1 +msgid ":py:obj:`platform_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range:1::1 +msgid ":py:obj:`double_pit `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range:1::1 +msgid "If True, the pit contains two levels of stairs." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.double_pit:1 +msgid "If True, the pit contains two levels of stairs. Defaults to False." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:192 +msgid "Box terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain:1 +msgid "Generate a terrain with boxes (similar to a pyramid)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain:3 +msgid "The terrain has a ground with boxes on top of it that are stacked on top of each other. The boxes are created by extruding a rectangle along the z-axis. If :obj:`double_box` is True, then two boxes of height :obj:`box_height` are stacked on top of each other." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg:1 +msgid "Configuration for a terrain with boxes (similar to a pyramid)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range:1::1 +msgid ":py:obj:`box_height_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range:1 +msgid "The minimum and maximum height of the box (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range:1::1 +msgid ":py:obj:`platform_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range:1::1 +msgid ":py:obj:`double_box `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range:1::1 +msgid "If True, the pit contains two levels of stairs/boxes." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.double_box:1 +msgid "If True, the pit contains two levels of stairs/boxes. Defaults to False." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:202 +msgid "Gap terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain:1 +msgid "Generate a terrain with a gap around the platform." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain:3 +msgid "The terrain has a ground with a platform in the middle. The platform is surrounded by a gap of width :obj:`gap_width` on all sides." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg:1 +msgid "Configuration for a terrain with a gap around the platform." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range:1::1 +msgid ":py:obj:`gap_width_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range:1 +msgid "The minimum and maximum width of the gap (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range:1::1 +msgid ":py:obj:`platform_width `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:212 +msgid "Floating ring terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain:1 +msgid "Generate a terrain with a floating square ring." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain:3 +msgid "The terrain has a ground with a floating ring in the middle. The ring extends from the center from :obj:`platform_width` to :obj:`platform_width` + :obj:`ring_width` in the x and y directions. The thickness of the ring is :obj:`ring_thickness` and the height of the ring from the terrain is :obj:`ring_height`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg:1 +msgid "Configuration for a terrain with a floating ring around the center." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +msgid ":py:obj:`ring_width_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1 +msgid "The minimum and maximum width of the ring (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +msgid ":py:obj:`ring_height_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_height_range:1 +msgid "The minimum and maximum height of the ring (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +msgid ":py:obj:`ring_thickness `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_thickness:1 +msgid "The thickness (along z) of the ring (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +msgid ":py:obj:`platform_width `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:222 +msgid "Star terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:1 +msgid "Generate a terrain with a star." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:3 +msgid "The terrain has a ground with a cylinder in the middle. The star is made of :obj:`num_bars` bars with a width of :obj:`bar_width` and a height of :obj:`bar_height`. The bars are evenly spaced around the cylinder and connect to the peripheral of the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:16 +msgid "If :obj:`num_bars` is less than 2." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg:1 +msgid "Configuration for a terrain with a star pattern." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +msgid ":py:obj:`num_bars `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +msgid "The number of bars per-side the star." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +msgid ":py:obj:`bar_width_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_width_range:1 +msgid "The minimum and maximum width of the bars in the star (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +msgid ":py:obj:`bar_height_range `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_height_range:1 +msgid "The minimum and maximum height of the bars in the star (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +msgid ":py:obj:`platform_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +msgid "The width of the cylindrical platform at the center of the terrain." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1 +msgid "The number of bars per-side the star. Must be greater than 2." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.platform_width:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.platform_width:1 +msgid "The width of the cylindrical platform at the center of the terrain. Defaults to 1.0." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:232 +msgid "Repeated Objects Terrain" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:1 +msgid "Generate a terrain with a set of repeated objects." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:3 +msgid "The terrain has a ground with a platform in the middle. The objects are randomly placed on the terrain s.t. they do not overlap with the platform." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:6 +msgid "Depending on the object type, the objects are generated with different parameters. The objects The types of objects that can be generated are: ``\"cylinder\"``, ``\"box\"``, ``\"cone\"``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:9 +msgid "The object parameters are specified in the configuration as curriculum parameters. The difficulty is used to linearly interpolate between the minimum and maximum values of the parameters." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:26 +msgid "If the object type is not supported. It must be either a string or a callable." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg:1 +msgid "Base configuration for a terrain with repeated objects." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg:1 +msgid "**Classes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg:1::1 +msgid ":py:obj:`ObjectCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg:1::1 +msgid "Configuration of repeated objects." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +msgid ":py:obj:`object_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_type:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_type:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_type:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_type:1 +msgid "The type of object to generate." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +msgid ":py:obj:`object_params_start `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_start:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_start:1 +msgid "The object curriculum parameters at the start of the curriculum." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +msgid ":py:obj:`object_params_end `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_end:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_end:1 +msgid "The object curriculum parameters at the end of the curriculum." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +msgid ":py:obj:`max_height_noise `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +msgid "The maximum amount of noise to add to the height of the objects (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +msgid ":py:obj:`platform_width `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects:1::1 +msgid ":py:obj:`num_objects `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects:1 +msgid "The number of objects to add to the terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects:1::1 +msgid ":py:obj:`height `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.height:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.height:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.height:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.height:1 +msgid "The height (along z) of the object (in m)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_type:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_type:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_type:3 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_type:3 +msgid "The type can be a string or a callable. If it is a string, the function will look for a function called ``make_{object_type}`` in the current module scope. If it is a callable, the function will use the callable to generate the object." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.max_height_noise:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.max_height_noise:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.max_height_noise:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.max_height_noise:1 +msgid "The maximum amount of noise to add to the height of the objects (in m). Defaults to 0.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg:1 +msgid "Configuration for a terrain with repeated pyramids." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg:1::1 +msgid ":py:obj:`ObjectCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg:1::1 +msgid "Configuration for a curriculum of repeated pyramids." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion:1::1 +msgid ":py:obj:`object_params_start `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion:1::1 +msgid ":py:obj:`object_params_end `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects:1::1 +msgid ":py:obj:`radius `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.radius:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.radius:1 +msgid "The radius of the pyramids (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects:1::1 +msgid ":py:obj:`max_yx_angle `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "The maximum angle along the y and x axis." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects:1::1 +msgid ":py:obj:`degrees `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "Whether the angle is in degrees." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.max_yx_angle:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.max_yx_angle:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.max_yx_angle:1 +msgid "The maximum angle along the y and x axis. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.degrees:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.degrees:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.degrees:1 +msgid "Whether the angle is in degrees. Defaults to True." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg:1 +msgid "Configuration for a terrain with repeated boxes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg:1::1 +msgid ":py:obj:`ObjectCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg:1::1 +msgid "Configuration for repeated boxes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion:1::1 +msgid ":py:obj:`object_params_start `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_start:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_start:1 +msgid "The box curriculum parameters at the start of the curriculum." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion:1::1 +msgid ":py:obj:`object_params_end `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_end:1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_end:1 +msgid "The box curriculum parameters at the end of the curriculum." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects:1::1 +msgid ":py:obj:`size `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects:1::1 +#: ../../docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.size:1 +msgid "The width (along x) and length (along y) of the box (in m)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects:1::1 +msgid ":py:obj:`max_yx_angle `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects:1::1 +msgid ":py:obj:`degrees `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg:1 +msgid "Configuration for a terrain with repeated cylinders." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg:1::1 +msgid ":py:obj:`ObjectCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg:1::1 +msgid "Configuration for repeated cylinder." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion:1::1 +msgid ":py:obj:`object_params_start `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion:1::1 +msgid ":py:obj:`object_params_end `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects:1::1 +msgid ":py:obj:`radius `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects:1::1 +msgid ":py:obj:`max_yx_angle `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains_cfg.py:docstring of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects:1::1 +msgid ":py:obj:`degrees `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:257 +msgid "Utilities" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils:1 +msgid "**Functions:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.color_meshes_by_height:1::1 +msgid ":py:obj:`color_meshes_by_height `\\ \\(meshes\\, \\*\\*kwargs\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.color_meshes_by_height:1::1 +msgid "Color the vertices of a trimesh object based on the z-coordinate (height) of each vertex, using the Turbo colormap." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.color_meshes_by_height:1::1 +msgid ":py:obj:`create_prim_from_mesh `\\ \\(prim\\_path\\, mesh\\, \\*\\*kwargs\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.color_meshes_by_height:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.create_prim_from_mesh:1 +msgid "Create a USD prim with mesh defined from vertices and triangles." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.color_meshes_by_height:1::1 +msgid ":py:obj:`find_flat_patches `\\ \\(wp\\_mesh\\, num\\_patches\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.color_meshes_by_height:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:1 +msgid "Finds flat patches of given radius in the input mesh." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.color_meshes_by_height:1 +msgid "Color the vertices of a trimesh object based on the z-coordinate (height) of each vertex, using the Turbo colormap. If the z-coordinates are all the same, the vertices will be colored with a single color." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.color_meshes_by_height:5 +msgid "A list of trimesh objects." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.color_meshes_by_height:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.create_prim_from_mesh:0 +msgid "Keyword Arguments" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.color_meshes_by_height:7 +msgid "A list of 3 integers in the range [0,255] representing the RGB color of the mesh. Used when the z-coordinates of all vertices are the same." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.color_meshes_by_height:9 +msgid "The name of the color map to be used. Defaults to \"turbo\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.color_meshes_by_height:11 +msgid "A trimesh object with the vertices colored based on the z-coordinate (height) of each vertex." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.create_prim_from_mesh:3 +msgid "The function creates a USD prim with a mesh defined from vertices and triangles. It performs the following steps:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.create_prim_from_mesh:6 +msgid "Create a USD Xform prim at the path :obj:`prim_path`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.create_prim_from_mesh:7 +msgid "Create a USD prim with a mesh defined from the input vertices and triangles at the path :obj:`{prim_path}/mesh`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.create_prim_from_mesh:8 +msgid "Assign a physics material to the mesh at the path :obj:`{prim_path}/physicsMaterial`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.create_prim_from_mesh:9 +msgid "Assign a visual material to the mesh at the path :obj:`{prim_path}/visualMaterial`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.create_prim_from_mesh:11 +msgid "The path to the primitive to be created." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.create_prim_from_mesh:12 +msgid "The mesh to be used for the primitive." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.create_prim_from_mesh:14 +msgid "The translation of the terrain. Defaults to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.create_prim_from_mesh:15 +msgid "The orientation of the terrain. Defaults to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.create_prim_from_mesh:16 +msgid "The visual material to apply. Defaults to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.create_prim_from_mesh:17 +msgid "The physics material to apply. Defaults to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:3 +msgid "The function finds flat patches of given radius based on the search space defined by the input ranges. The search space is characterized by origin in the mesh frame, and the x, y, and z ranges. The x and y ranges are used to sample points in the 2D region around the origin, and the z range is used to filter patches based on the height of the points." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:8 +msgid "The function performs rejection sampling to find the patches based on the following steps:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:10 +msgid "Sample patch locations in the 2D region around the origin." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:11 +msgid "Define a ring of points around each patch location to query the height of the points using ray-casting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:12 +msgid "Reject patches that are outside the z range or have a height difference that is too large." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:13 +msgid "Keep sampling until all patches are valid." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:15 +msgid "The warp mesh to find patches in." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:16 +msgid "The desired number of patches to find." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:17 +msgid "The radii used to form patches. If a list is provided, multiple patch sizes are checked. This is useful to deal with holes or other artifacts in the mesh." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:19 +msgid "The origin defining the center of the search space. This is specified in the mesh frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:20 +msgid "The range of X coordinates to sample from." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:21 +msgid "The range of Y coordinates to sample from." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:22 +msgid "The range of valid Z coordinates used for filtering patches." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:23 +msgid "The maximum allowable distance between the lowest and highest points on a patch to consider it as valid. If the difference is greater than this value, the patch is rejected." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:27 +msgid "A tensor of shape (num_patches, 3) containing the flat patches. The patches are defined in the mesh frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/utils.py:docstring of omni.isaac.lab.terrains.utils.find_flat_patches:29 +msgid "If the function fails to find valid patches. This can happen if the input parameters are not suitable for finding valid patches and maximum number of iterations is reached." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab/omni.isaac.lab.utils.pot b/docs/_build/gettext/source/api/lab/omni.isaac.lab.utils.pot new file mode 100644 index 0000000000..1c508a247a --- /dev/null +++ b/docs/_build/gettext/source/api/lab/omni.isaac.lab.utils.pot @@ -0,0 +1,3004 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:2 +msgid "omni.isaac.lab.utils" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/__init__.py:docstring of omni.isaac.lab.utils:1 +msgid "Sub-package containing utilities for common operations and helper functions." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:7 +msgid "Submodules" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`io `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io:1 +msgid "Submodules for files IO operations." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`array `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array:1 +msgid "Sub-module containing utilities for working with different array backends." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`assets `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets:1 +msgid "Sub-module that defines the host-server where assets and resources are stored." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`buffers `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/__init__.py:docstring of omni.isaac.lab.utils.buffers:1 +msgid "Sub-module containing different buffers." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`dict `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict:1 +msgid "Sub-module for utilities for working with dictionaries." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`interpolation `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/__init__.py:docstring of omni.isaac.lab.utils.interpolation:1 +msgid "Submodule for different interpolation methods." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`math `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math:1 +msgid "Sub-module containing utilities for various math operations." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`noise `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1 +msgid "Sub-module containing different noise models implementations." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`string `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string:1 +msgid "Sub-module containing utilities for transforming strings and regular expressions." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`timer `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer:1 +msgid "Sub-module for a timer class that can be used for performance measurements." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`warp `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp:1 +msgid "Sub-module containing operations based on warp." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:23 +msgid "Functions" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:26::1 +msgid ":py:obj:`configclass `\\ \\(cls\\, \\*\\*kwargs\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:26::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass.configclass:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass.configclass:1::1 +msgid "Wrapper around `dataclass` functionality to add extra checks and utilities." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:29 +msgid "Configuration class" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass:1 +msgid "Sub-module that provides a wrapper around the Python 3.7 onwards ``dataclasses`` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp:1 +msgid "**Functions:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass.configclass:1::1 +msgid ":py:obj:`configclass `\\ \\(cls\\, \\*\\*kwargs\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass.configclass:3 +msgid "As of Python 3.7, the standard dataclasses have two main issues which makes them non-generic for configuration use-cases. These include:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass.configclass:6 +msgid "Requiring a type annotation for all its members." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass.configclass:7 +msgid "Requiring explicit usage of :meth:`field(default_factory=...)` to reinitialize mutable variables." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass.configclass:9 +msgid "This function provides a decorator that wraps around Python's `dataclass`_ utility to deal with the above two issues. It also provides additional helper functions for dictionary <-> class conversion and easily copying class instances." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass.configclass:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:6 +msgid "Usage:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array.convert_to_torch:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.check_file_path:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.read_file:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.retrieve_file_path:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.append:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass.configclass:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.convert_dict_to_backend:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.dict_to_md5_hash:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_class_from_dict:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_dict:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.dump_pickle:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.load_pickle:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.yaml.dump_yaml:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.yaml.load_yaml:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.apply_delta_pose:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.axis_angle_from_quat:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.combine_frame_transforms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.compute_pose_error:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.convert_quat:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.copysign:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.default_orientation:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.euler_xyz_from_quat:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.is_identity_pose:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_euler:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_quat:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.normalize:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.project_points:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_apply:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_apply_yaw:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_box_minus:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_conjugate:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_error_magnitude:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_angle_axis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_euler_xyz:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_matrix:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_inv:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_mul:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_rotate:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_rotate_inverse:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_unique:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.random_orientation:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.random_yaw_orientation:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_cylinder:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_gaussian:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_log_uniform:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_triangle:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_uniform:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.saturate:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.skew_symmetric_matrix:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.subtract_frame_transforms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unproject_depth:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unscale_transform:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.wrap_to_pi:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.yaw_quat:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel.apply:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.apply:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.reset:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.callable_to_string:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.is_lambda_expression:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names_values:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.string_to_callable:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_snake_case:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass.configclass:46 +msgid "The class to wrap around." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass.configclass:47 +msgid "Additional arguments to pass to :func:`dataclass`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array.convert_to_torch:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.check_file_path:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.read_file:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.retrieve_file_path:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass.configclass:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.convert_dict_to_backend:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.dict_to_md5_hash:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_dict:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.compute:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.load_pickle:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.yaml.load_yaml:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.apply_delta_pose:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.axis_angle_from_quat:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.combine_frame_transforms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.compute_pose_error:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.convert_quat:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.copysign:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.default_orientation:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.euler_xyz_from_quat:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.is_identity_pose:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_euler:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_quat:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.normalize:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.project_points:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_apply:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_apply_yaw:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_box_minus:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_conjugate:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_error_magnitude:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_angle_axis:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_euler_xyz:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_matrix:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_inv:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_mul:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_rotate:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_rotate_inverse:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_unique:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.random_orientation:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.random_yaw_orientation:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_cylinder:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_gaussian:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_log_uniform:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_triangle:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_uniform:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.saturate:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.skew_symmetric_matrix:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.subtract_frame_transforms:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unproject_depth:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unscale_transform:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.wrap_to_pi:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.yaw_quat:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.callable_to_string:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.is_lambda_expression:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names_values:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.string_to_callable:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_snake_case:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/configclass.py:docstring of omni.isaac.lab.utils.configclass.configclass:49 +msgid "The wrapped class." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:36 +msgid "IO operations" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.dump_pickle:1::1 +msgid ":py:obj:`dump_pickle `\\ \\(filename\\, data\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.dump_pickle:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.dump_pickle:1::1 +msgid "Saves data into a pickle file safely." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.dump_pickle:1::1 +msgid ":py:obj:`load_pickle `\\ \\(filename\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.dump_pickle:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.load_pickle:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.yaml.load_yaml:1 +msgid "Loads an input PKL file safely." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.dump_pickle:1::1 +msgid ":py:obj:`dump_yaml `\\ \\(filename\\, data\\[\\, sort\\_keys\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.dump_pickle:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.yaml.dump_yaml:1 +msgid "Saves data into a YAML file safely." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.dump_pickle:1::1 +msgid ":py:obj:`load_yaml `\\ \\(filename\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.dump_pickle:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.yaml.dump_yaml:3 +msgid "The function creates any missing directory along the file's path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.dump_pickle:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.yaml.dump_yaml:5 +msgid "The path to save the file at." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.dump_pickle:6 +msgid "The data to save." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.load_pickle:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.yaml.load_yaml:3 +msgid "The path to pickled file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.read_file:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.retrieve_file_path:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.append:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.convert_dict_to_backend:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_class_from_dict:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.load_pickle:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.yaml.load_yaml:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.compute_pose_error:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.convert_quat:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_mul:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.skew_symmetric_matrix:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unproject_depth:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.callable_to_string:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names_values:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.string_to_callable:0 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.load_pickle:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.yaml.load_yaml:5 +msgid "When the specified file does not exist." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.pkl.load_pickle:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.yaml.load_yaml:7 +msgid "The data read from the input file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.yaml.dump_yaml:6 +msgid "The data to save either a dictionary or class object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/io/__init__.py:docstring of omni.isaac.lab.utils.io.yaml.dump_yaml:7 +msgid "Whether to sort the keys in the output file. Defaults to False." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:44 +msgid "Array operations" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets:1 +msgid "**Data:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array:1::1 +msgid ":py:obj:`TENSOR_TYPES `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array:1::1 +#: ../../docstring of omni.isaac.lab.utils.array.TENSOR_TYPES:1 +msgid "A dictionary containing the types for each backend." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array:1::1 +msgid ":py:obj:`TENSOR_TYPE_CONVERSIONS `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array:1::1 +#: ../../docstring of omni.isaac.lab.utils.array.TENSOR_TYPE_CONVERSIONS:1 +msgid "A nested dictionary containing the conversion functions for each backend." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of typing.Union:1::1 +msgid ":py:obj:`convert_to_torch `\\ \\(array\\[\\, dtype\\, device\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array.convert_to_torch:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of typing.Union:1::1 +msgid "Converts a given array into a torch tensor." +msgstr "" + +#: ../../docstring of typing.Union:1 +msgid "Type definition for a tensor data." +msgstr "" + +#: ../../docstring of typing.Union:3 +msgid "Union of numpy, torch, and warp arrays." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.array.TENSOR_TYPES:3 +msgid "The keys are the name of the backend (\"numpy\", \"torch\", \"warp\") and the values are the corresponding type (``np.ndarray``, ``torch.Tensor``, ``wp.array``)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.array.TENSOR_TYPE_CONVERSIONS:3 +msgid "The keys of the outer dictionary are the name of target backend (\"numpy\", \"torch\", \"warp\"). The keys of the inner dictionary are the source backend (``np.ndarray``, ``torch.Tensor``, ``wp.array``)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array.convert_to_torch:3 +msgid "The function tries to convert the array to a torch tensor. If the array is a numpy/warp arrays, or python list/tuples, it is converted to a torch tensor. If the array is already a torch tensor, it is returned directly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array.convert_to_torch:7 +msgid "If ``device`` is None, then the function deduces the current device of the data. For numpy arrays, this defaults to \"cpu\", for torch tensors it is \"cpu\" or \"cuda\", and for warp arrays it is \"cuda\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array.convert_to_torch:12 +msgid "Since PyTorch does not support unsigned integer types, unsigned integer arrays are converted to signed integer arrays. This is done by casting the array to the corresponding signed integer type." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array.convert_to_torch:15 +msgid "The input array. It can be a numpy array, warp array, python list/tuple, or torch tensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array.convert_to_torch:16 +msgid "Target data-type for the tensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array.convert_to_torch:17 +msgid "The target device for the tensor. Defaults to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/array.py:docstring of omni.isaac.lab.utils.array.convert_to_torch:19 +msgid "The converted array as torch tensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:51 +msgid "Asset operations" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets:3 +msgid "By default, we use the Isaac Sim Nucleus Server for hosting assets and resources. This makes distribution of the assets easier and makes the repository smaller in size code-wise." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets:6 +msgid "For more information, please check information on `Omniverse Nucleus`_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets:1::1 +msgid ":py:obj:`NUCLEUS_ASSET_ROOT_DIR `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets:1::1 +#: ../../docstring of omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR:1 +msgid "Path to the root directory on the Nucleus Server." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets:1::1 +msgid ":py:obj:`NVIDIA_NUCLEUS_DIR `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets:1::1 +#: ../../docstring of omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR:1 +msgid "Path to the root directory on the NVIDIA Nucleus Server." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets:1::1 +msgid ":py:obj:`ISAAC_NUCLEUS_DIR `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets:1::1 +#: ../../docstring of omni.isaac.lab.utils.assets.ISAAC_NUCLEUS_DIR:1 +msgid "Path to the ``Isaac`` directory on the NVIDIA Nucleus Server." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets:1::1 +msgid ":py:obj:`ISAACLAB_NUCLEUS_DIR `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets:1::1 +#: ../../docstring of omni.isaac.lab.utils.assets.ISAACLAB_NUCLEUS_DIR:1 +msgid "Path to the ``Isaac/IsaacLab`` directory on the NVIDIA Nucleus Server." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR:1::1 +msgid ":py:obj:`check_file_path `\\ \\(path\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.check_file_path:1 +msgid "Checks if a file exists on the Nucleus Server or locally." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR:1::1 +msgid ":py:obj:`retrieve_file_path `\\ \\(path\\[\\, download\\_dir\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.retrieve_file_path:1 +msgid "Retrieves the path to a file on the Nucleus Server or locally." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR:1::1 +msgid ":py:obj:`read_file `\\ \\(path\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.read_file:1 +msgid "Reads a file from the Nucleus Server or locally." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.check_file_path:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.read_file:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.retrieve_file_path:7 +msgid "The path to the file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.check_file_path:5 +msgid "The status of the file. Possible values are listed below. * :obj:`0` if the file does not exist * :obj:`1` if the file exists locally * :obj:`2` if the file exists on the Nucleus Server" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.check_file_path:5 +msgid "The status of the file. Possible values are listed below." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.check_file_path:7 +msgid ":obj:`0` if the file does not exist" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.check_file_path:8 +msgid ":obj:`1` if the file exists locally" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.check_file_path:9 +msgid ":obj:`2` if the file exists on the Nucleus Server" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.retrieve_file_path:3 +msgid "If the file exists locally, then the absolute path to the file is returned. If the file exists on the Nucleus Server, then the file is downloaded to the local machine and the absolute path to the file is returned." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.retrieve_file_path:8 +msgid "The directory where the file should be downloaded. Defaults to None, in which case the file is downloaded to the system's temporary directory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.retrieve_file_path:10 +msgid "Whether to force download the file from the Nucleus Server. This will overwrite the local file if it exists. Defaults to True." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.retrieve_file_path:13 +msgid "The path to the file on the local machine." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.read_file:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.retrieve_file_path:15 +msgid "When the file not found locally or on Nucleus Server." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.retrieve_file_path:16 +msgid "When the file cannot be copied from the Nucleus Server to the local machine. This can happen when the file already exists locally and :attr:`force_download` is set to False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/assets.py:docstring of omni.isaac.lab.utils.assets.read_file:7 +msgid "The content of the file." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:58 +msgid "Buffer operations" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/__init__.py:docstring of omni.isaac.lab.utils.buffers:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/__init__.py:docstring of omni.isaac.lab.utils.interpolation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseModelWithAdditiveBiasCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer:1 +msgid "**Classes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid ":py:obj:`CircularBuffer `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid "Circular buffer for storing a history of batched tensor data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid ":py:obj:`DelayBuffer `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1 +msgid "Delay buffer that allows retrieving stored data with delays." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid ":py:obj:`TimestampedBuffer `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/timestamped_buffer.py:docstring of omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1 +msgid "A buffer class containing data and its timestamp." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/timestamped_buffer.py:docstring of omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:3 +msgid "This class implements a circular buffer for storing a history of batched tensor data. The buffer is initialized with a maximum length and a batch size. The data is stored in a circular fashion, and the data can be retrieved in a LIFO (Last-In-First-Out) fashion. The buffer is designed to be used in multi-environment settings, where each environment has its own data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:8 +msgid "The shape of the appended data is expected to be (batch_size, ...), where the first dimension is the batch dimension. Correspondingly, the shape of the ring buffer is (max_len, batch_size, ...)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/timestamped_buffer.py:docstring of omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid ":py:obj:`__init__ `\\ \\(max\\_len\\, batch\\_size\\, device\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid "Initialize the circular buffer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid ":py:obj:`reset `\\ \\(\\[batch\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid "Reset the circular buffer at the specified batch indices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid ":py:obj:`append `\\ \\(data\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.append:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid "Append the data to the circular buffer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/timestamped_buffer.py:docstring of omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.ConstantNoiseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.GaussianNoiseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.UniformNoiseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +msgid ":py:obj:`batch_size `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.CircularBuffer.batch_size:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.DelayBuffer.batch_size:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid "The batch size of the ring buffer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.CircularBuffer.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.DelayBuffer.device:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:11 +msgid "The device used for processing." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +msgid ":py:obj:`max_length `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.CircularBuffer.max_length:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +msgid "The maximum length of the ring buffer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +msgid ":py:obj:`current_length `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +msgid "The current length of the buffer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:3 +msgid "The maximum length of the circular buffer. The minimum allowed value is 1." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:6 +msgid "The batch dimension of the data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:7 +msgid "If the buffer size is less than one." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.CircularBuffer.current_length:1 +msgid "The current length of the buffer. Shape is (batch_size,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.CircularBuffer.current_length:3 +msgid "Since the buffer is circular, the current length is the minimum of the number of pushes and the maximum length." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.reset:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.reset:3 +msgid "Elements to reset in the batch dimension. Default is None, which resets all the batch indices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.append:3 +msgid "The data to append to the circular buffer. The first dimension should be the batch dimension. Shape is (batch_size, ...)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/circular_buffer.py:docstring of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.append:6 +msgid "If the input data has a different batch size than the buffer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:3 +msgid "This class uses a batched circular buffer to store input data. Different to a standard circular buffer, which uses the LIFO (last-in-first-out) principle to retrieve the data, the delay buffer class allows retrieving data based on the lag set by the user. For instance, if the delay set inside the buffer is 1, then the second last entry from the stream is retrieved. If it is 2, then the third last entry and so on." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:9 +msgid "The class supports storing a batched tensor data. This means that the shape of the appended data is expected to be (batch_size, ...), where the first dimension is the batch dimension. Correspondingly, the delay can be set separately for each batch index. If the requested delay is larger than the current length of the underlying buffer, the most recent entry is returned." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:15 +msgid "By default, the delay buffer has no delay, meaning that the data is returned as is." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid ":py:obj:`__init__ `\\ \\(history\\_length\\, batch\\_size\\, device\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid "Initialize the delay buffer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid ":py:obj:`set_time_lag `\\ \\(time\\_lag\\[\\, batch\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid "Sets the time lag for the delay buffer across the provided batch indices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid ":py:obj:`reset `\\ \\(\\[batch\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid "Reset the data in the delay buffer at the specified batch indices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid ":py:obj:`compute `\\ \\(data\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.compute:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid "Append the input data to the buffer and returns a stale version of the data based on time lag delay." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid ":py:obj:`batch_size `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid ":py:obj:`history_length `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.DelayBuffer.history_length:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid "The history length of the delay buffer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid ":py:obj:`min_time_lag `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.DelayBuffer.min_time_lag:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid "Minimum amount of time steps that can be delayed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid ":py:obj:`max_time_lag `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.DelayBuffer.max_time_lag:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid "Maximum amount of time steps that can be delayed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid ":py:obj:`time_lags `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.DelayBuffer.time_lags:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid "The time lag across each batch index." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:3 +msgid "The history of the buffer, i.e., the number of time steps in the past that the data will be buffered. It is recommended to set this value equal to the maximum time-step lag that is expected. The minimum acceptable value is zero, which means only the latest data is stored." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.DelayBuffer.history_length:3 +msgid "If zero, only the latest data is stored. If one, the latest and the previous data are stored, and so on." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.DelayBuffer.min_time_lag:3 +msgid "This value cannot be negative or larger than :attr:`max_time_lag`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.DelayBuffer.max_time_lag:3 +msgid "This value cannot be greater than :attr:`history_length`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.DelayBuffer.time_lags:3 +msgid "The shape of the tensor is (batch_size, ). The value at each index represents the delay for that index. This value is used to retrieve the data from the buffer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:3 +msgid "The desired delay for the buffer. * If an integer is provided, the same delay is set for the provided batch indices. * If a tensor is provided, the delay is set for each batch index separately. The shape of the tensor should be (len(batch_ids),)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:3 +msgid "The desired delay for the buffer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:5 +msgid "If an integer is provided, the same delay is set for the provided batch indices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:6 +msgid "If a tensor is provided, the delay is set for each batch index separately. The shape of the tensor should be (len(batch_ids),)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:8 +msgid "The batch indices for which the time lag is set. Default is None, which sets the time lag for all batch indices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:11 +msgid "If the type of the :attr:`time_lag` is not int or integer tensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:12 +msgid "If the minimum time lag is negative or the maximum time lag is larger than the history length." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.compute:3 +msgid "If the requested delay is larger than the number of buffered data points since the last reset, the function returns the latest data. For instance, if the delay is set to 2 and only one data point is stored in the buffer, the function will return the latest data. If the delay is set to 2 and three data points are stored, the function will return the first data point." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.compute:8 +msgid "The input data. Shape is (batch_size, ...)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/delay_buffer.py:docstring of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.compute:10 +msgid "The delayed version of the data from the stored buffer. Shape is (batch_size, ...)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/timestamped_buffer.py:docstring of omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:3 +msgid "This class is a simple data container that stores a tensor and its timestamp. The timestamp is used to track the last update of the buffer. The timestamp is set to -1.0 by default, indicating that the buffer has not been updated yet. The timestamp should be updated whenever the data in the buffer is updated. This way the buffer can be used to check whether the data is outdated and needs to be refreshed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/timestamped_buffer.py:docstring of omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:8 +msgid "The buffer is useful for creating lazy buffers that only update the data when it is outdated. This can be useful when the data is expensive to compute or retrieve. For example usage, refer to the data classes in the :mod:`omni.isaac.lab.assets` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/timestamped_buffer.py:docstring of omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/timestamped_buffer.py:docstring of omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1::1 +msgid "The data stored in the buffer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/timestamped_buffer.py:docstring of omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1::1 +msgid ":py:obj:`timestamp `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/timestamped_buffer.py:docstring of omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1::1 +msgid "Timestamp at the last update of the buffer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/buffers/timestamped_buffer.py:docstring of omni.isaac.lab.utils.buffers.TimestampedBuffer.data:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\[data\\, timestamp\\]\\)" +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.buffers.TimestampedBuffer.data:1 +msgid "The data stored in the buffer. Default is None, indicating that the buffer is empty." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.buffers.TimestampedBuffer.timestamp:1 +msgid "Timestamp at the last update of the buffer. Default is -1.0, indicating that the buffer has not been updated." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:67 +msgid "Dictionary operations" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:1::1 +msgid ":py:obj:`class_to_dict `\\ \\(obj\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:1::1 +msgid "Convert an object into dictionary recursively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:1::1 +msgid ":py:obj:`update_class_from_dict `\\ \\(obj\\, data\\[\\, \\_ns\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_class_from_dict:1 +msgid "Reads a dictionary and sets object variables recursively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:1::1 +msgid ":py:obj:`dict_to_md5_hash `\\ \\(data\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.dict_to_md5_hash:1 +msgid "Convert a dictionary into a hashable key using MD5 hash." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:1::1 +msgid ":py:obj:`convert_dict_to_backend `\\ \\(data\\[\\, backend\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.convert_dict_to_backend:1 +msgid "Convert all arrays or tensors in a dictionary to a given backend." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:1::1 +msgid ":py:obj:`update_dict `\\ \\(orig\\_dict\\, new\\_dict\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_dict:1 +msgid "Updates existing dictionary with values from a new dictionary." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:1::1 +msgid ":py:obj:`print_dict `\\ \\(val\\[\\, nesting\\, start\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.print_dict:1 +msgid "Outputs a nested dictionary." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:3 +msgid "Ignores all names starting with \"__\" (i.e. built-in methods)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:5 +msgid "An instance of a class to convert." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:7 +msgid "When input argument is not an object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.class_to_dict:9 +msgid "Converted dictionary mapping." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_class_from_dict:3 +msgid "This function performs in-place update of the class member attributes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_class_from_dict:5 +msgid "An instance of a class to update." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_class_from_dict:6 +msgid "Input dictionary to update from." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_class_from_dict:7 +msgid "Namespace of the current object. This is useful for nested configuration classes or dictionaries. Defaults to \"\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_class_from_dict:10 +msgid "When input is not a dictionary." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_class_from_dict:11 +msgid "When dictionary has a value that does not match default config type." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_class_from_dict:12 +msgid "When dictionary has a key that does not exist in the default config type." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.dict_to_md5_hash:3 +msgid "Input dictionary or configuration object to convert." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.dict_to_md5_hash:5 +msgid "A string object of double length containing only hexadecimal digits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.convert_dict_to_backend:3 +msgid "This function iterates over the dictionary, converts all arrays or tensors with the given types to the desired backend, and stores them in a new dictionary. It also works with nested dictionaries." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.convert_dict_to_backend:6 +msgid "Currently supported backends are \"numpy\", \"torch\", and \"warp\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.convert_dict_to_backend:10 +msgid "This function only converts arrays or tensors. Other types of data are left unchanged. Mutable types (e.g. lists) are referenced by the new dictionary, so they are not copied." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.convert_dict_to_backend:13 +msgid "An input dict containing array or tensor data as values." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.convert_dict_to_backend:14 +msgid "The backend (\"numpy\", \"torch\", \"warp\") to which arrays in this dict should be converted. Defaults to \"numpy\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.convert_dict_to_backend:16 +msgid "A list containing the types of arrays that should be converted to the desired backend. Defaults to (\"numpy\", \"torch\", \"warp\")." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.convert_dict_to_backend:19 +msgid "If the specified ``backend`` or ``array_types`` are unknown, i.e. not in the list of supported backends (\"numpy\", \"torch\", \"warp\")." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.convert_dict_to_backend:21 +msgid "The updated dict with the data converted to the desired backend." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_dict:3 +msgid "This function mimics the dict.update() function. However, it works for nested dictionaries as well." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_dict:6 +msgid "The original dictionary to insert items to." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_dict:7 +msgid "The new dictionary to insert items from." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/dict.py:docstring of omni.isaac.lab.utils.dict.update_dict:9 +msgid "The updated dictionary." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:74 +msgid "Interpolation operations" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation:1::1 +msgid ":py:obj:`LinearInterpolation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation:1::1 +msgid "Linearly interpolates a sampled scalar function for arbitrary query points." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation:3 +msgid "This class implements a linear interpolation for a scalar function. The function maps from real values, x, to real values, y. It expects a set of samples from the function's domain, x, and the corresponding values, y. The class allows querying the function's values at any arbitrary point." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation:7 +msgid "The interpolation is done by finding the two closest points in x to the query point and then linearly interpolating between the corresponding y values. For the query points that are outside the input points, the class does a zero-order-hold extrapolation based on the boundary values. This means that the class returns the value of the closest point in x." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:1::1 +msgid ":py:obj:`__init__ `\\ \\(x\\, y\\, device\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:1::1 +msgid "Initializes the linear interpolation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:1::1 +msgid ":py:obj:`compute `\\ \\(q\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.compute:1 +msgid "Calculates a linearly interpolated values for the query points." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:3 +msgid "The scalar function maps from real values, x, to real values, y. The input to the class is a set of samples from the function's domain, x, and the corresponding values, y." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:6 +msgid "The input tensor x should be sorted in ascending order." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:8 +msgid "An vector of samples from the function's domain. The values should be sorted in ascending order. Shape is (num_samples,)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:10 +msgid "The function's values associated to the input x. Shape is (num_samples,)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:13 +msgid "If the input tensors are empty or have different sizes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:14 +msgid "If the input tensor x is not sorted in ascending order." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.compute:3 +msgid "The query points. It can have any arbitrary shape." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/interpolation/linear_interpolation.py:docstring of omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.compute:5 +msgid "The interpolated values at query points. It has the same shape as the input tensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:83 +msgid "Math operations" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`scale_transform `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Normalizes a given input tensor to a range of [-1, 1]." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`unscale_transform `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unscale_transform:1 +msgid "De-normalizes a given input tensor from range of [-1, 1] to (lower, upper)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`saturate `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.saturate:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Clamps a given input tensor to (lower, upper)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`normalize `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.normalize:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Normalizes a given input tensor to unit length." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`wrap_to_pi `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.wrap_to_pi:1 +msgid "Wraps input angles (in radians) to the range [-pi, pi]." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`copysign `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.copysign:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Create a new floating-point tensor with the magnitude of input and the sign of other, element-wise." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`matrix_from_quat `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_quat:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert rotations given as quaternions to rotation matrices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`convert_quat `\\ \\(quat\\[\\, to\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.convert_quat:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Converts quaternion from one convention to another." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_conjugate `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_conjugate:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Computes the conjugate of a quaternion." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_inv `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_inv:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Compute the inverse of a quaternion." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_from_euler_xyz `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_euler_xyz:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert rotations given as Euler angles in radians to Quaternions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_from_matrix `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_matrix:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert rotations given as rotation matrices to quaternions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`matrix_from_euler `\\ \\(euler\\_angles\\, convention\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_euler:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert rotations given as Euler angles in radians to rotation matrices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`euler_xyz_from_quat `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.euler_xyz_from_quat:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert rotations given as quaternions to Euler angles in radians." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_unique `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_unique:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert a unit quaternion to a standard form where the real part is non-negative." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_mul `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_mul:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Multiply two quaternions together." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_box_minus `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_box_minus:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "The box-minus operator (quaternion difference) between two quaternions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`yaw_quat `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.yaw_quat:1 +msgid "Extract the yaw component of a quaternion." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_apply `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_apply:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Apply a quaternion rotation to a vector." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_apply_yaw `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_apply_yaw:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Rotate a vector only around the yaw-direction." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_rotate `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_rotate:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Rotate a vector by a quaternion." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_rotate_inverse `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_rotate_inverse:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Rotate a vector by the inverse of a quaternion." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_from_angle_axis `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_angle_axis:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert rotations given as angle-axis to quaternions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`axis_angle_from_quat `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.axis_angle_from_quat:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert rotations given as quaternions to axis/angle." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_error_magnitude `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_error_magnitude:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Computes the rotation difference between two quaternions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`skew_symmetric_matrix `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.skew_symmetric_matrix:1 +msgid "Computes the skew-symmetric matrix of a vector." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`is_identity_pose `\\ \\(pos\\, rot\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.is_identity_pose:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Checks if input poses are identity transforms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`combine_frame_transforms `\\ \\(t01\\, q01\\[\\, t12\\, q12\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.combine_frame_transforms:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Combine transformations between two reference frames into a stationary frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`subtract_frame_transforms `\\ \\(t01\\, q01\\[\\, t02\\, q02\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.subtract_frame_transforms:1 +msgid "Subtract transformations between two reference frames into a stationary frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`compute_pose_error `\\ \\(t01\\, q01\\, t02\\, q02\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.compute_pose_error:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Compute the position and orientation error between source and target frames." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`apply_delta_pose `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.apply_delta_pose:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Applies delta pose transformation on source pose." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`transform_points `\\ \\(points\\[\\, pos\\, quat\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:1 +msgid "Transform input points in a given frame to a target frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`unproject_depth `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unproject_depth:1 +msgid "Unproject depth image into a pointcloud." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`project_points `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.project_points:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Projects 3D points into 2D image plane." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`default_orientation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.default_orientation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Returns identity rotation transform." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`random_orientation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.random_orientation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Returns sampled rotation in 3D as quaternion." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`random_yaw_orientation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.random_yaw_orientation:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Returns sampled rotation around z-axis." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`sample_triangle `\\ \\(lower\\, upper\\, size\\, device\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_triangle:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Randomly samples tensor from a triangular distribution." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`sample_uniform `\\ \\(lower\\, upper\\, size\\, device\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_uniform:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Sample uniformly within a range." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`sample_log_uniform `\\ \\(lower\\, upper\\, size\\, device\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_log_uniform:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Sample using log-uniform distribution within a range." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`sample_gaussian `\\ \\(mean\\, std\\, size\\, device\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_gaussian:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Sample using gaussian distribution." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`sample_cylinder `\\ \\(radius\\, h\\_range\\, size\\, device\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_cylinder:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Sample 3D points uniformly on a cylinder's surface." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.saturate:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unscale_transform:4 +msgid "It uses pytorch broadcasting functionality to deal with batched input." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.normalize:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.saturate:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unscale_transform:6 +msgid "Input tensor of shape (N, dims)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.saturate:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unscale_transform:7 +msgid "The minimum value of the tensor. Shape is (N, dims) or (dims,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.saturate:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unscale_transform:8 +msgid "The maximum value of the tensor. Shape is (N, dims) or (dims,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.scale_transform:10 +msgid "Normalized transform of the tensor. Shape is (N, dims)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unscale_transform:10 +msgid "De-normalized transform of the tensor. Shape is (N, dims)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.saturate:9 +msgid "Clamped transform of the tensor. Shape is (N, dims)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.normalize:4 +msgid "A small value to avoid division by zero. Defaults to 1e-9." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.normalize:6 +msgid "Normalized tensor of shape (N, dims)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.wrap_to_pi:3 +msgid "Input angles of any shape." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.wrap_to_pi:5 +msgid "Angles in the range [-pi, pi]." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.copysign:3 +msgid "The implementation follows from `torch.copysign`. The function allows a scalar magnitude." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.copysign:5 +msgid "The magnitude scalar." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.copysign:6 +msgid "The tensor containing values whose signbits are applied to magnitude." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.copysign:8 +msgid "The output tensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.axis_angle_from_quat:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_quat:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_conjugate:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_unique:6 +msgid "The quaternion orientation in (w, x, y, z). Shape is (..., 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_quat:5 +msgid "Rotation matrices. The shape is (..., 3, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.axis_angle_from_quat:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.euler_xyz_from_quat:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_euler:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_quat:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_matrix:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.random_orientation:8 +msgid "Reference:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_quat:8 +msgid "https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L41-L70" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.convert_quat:3 +msgid "The convention to convert TO is specified as an optional argument. If to == 'xyzw', then the input is in 'wxyz' format, and vice-versa." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.convert_quat:6 +msgid "The quaternion of shape (..., 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.convert_quat:7 +msgid "Convention to convert quaternion to.. Defaults to \"xyzw\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.convert_quat:9 +msgid "The converted quaternion in specified convention." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.convert_quat:11 +msgid "Invalid input argument `to`, i.e. not \"xyzw\" or \"wxyz\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.convert_quat:12 +msgid "Invalid shape of input `quat`, i.e. not (..., 4,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_conjugate:5 +msgid "The conjugate quaternion in (w, x, y, z). Shape is (..., 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.euler_xyz_from_quat:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_inv:3 +msgid "The quaternion orientation in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_inv:5 +msgid "The inverse quaternion in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.euler_xyz_from_quat:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_euler_xyz:3 +msgid "The euler angles are assumed in XYZ convention." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_euler_xyz:5 +msgid "Rotation around x-axis (in radians). Shape is (N,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_euler_xyz:6 +msgid "Rotation around y-axis (in radians). Shape is (N,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_euler_xyz:7 +msgid "Rotation around z-axis (in radians). Shape is (N,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.is_identity_pose:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_angle_axis:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_euler_xyz:9 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_rotate:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_rotate_inverse:3 +msgid "The quaternion in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_matrix:3 +msgid "The rotation matrices. Shape is (..., 3, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_apply:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_matrix:5 +msgid "The quaternion in (w, x, y, z). Shape is (..., 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_matrix:8 +msgid "https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L102-L161" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_euler:3 +msgid "Euler angles in radians. Shape is (..., 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_euler:4 +msgid "Convention string of three uppercase letters from {\"X\", \"Y\", and \"Z\"}. For example, \"XYZ\" means that the rotations should be applied first about x, then y, then z." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_euler:8 +msgid "Rotation matrices. Shape is (..., 3, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.matrix_from_euler:11 +msgid "https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L194-L220" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.euler_xyz_from_quat:7 +msgid "A tuple containing roll-pitch-yaw. Each element is a tensor of shape (N,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.euler_xyz_from_quat:10 +msgid "https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_unique:3 +msgid "Quaternion representations have a singularity since ``q`` and ``-q`` represent the same rotation. This function ensures the real part of the quaternion is non-negative." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_unique:8 +msgid "Standardized quaternions. Shape is (..., 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_error_magnitude:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_mul:3 +msgid "The first quaternion in (w, x, y, z). Shape is (..., 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_error_magnitude:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_mul:4 +msgid "The second quaternion in (w, x, y, z). Shape is (..., 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_mul:6 +msgid "The product of the two quaternions in (w, x, y, z). Shape is (..., 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_mul:8 +msgid "Input shapes of ``q1`` and ``q2`` are not matching." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_box_minus:3 +msgid "The first quaternion in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_box_minus:4 +msgid "The second quaternion in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_box_minus:6 +msgid "The difference between the two quaternions. Shape is (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.yaw_quat:3 +msgid "The orientation in (w, x, y, z). Shape is (..., 4)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.yaw_quat:5 +msgid "A quaternion with only yaw component." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_apply:4 +msgid "The vector in (x, y, z). Shape is (..., 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_apply:6 +msgid "The rotated vector in (x, y, z). Shape is (..., 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_apply_yaw:3 +msgid "The orientation in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_apply_yaw:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_rotate:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_rotate_inverse:4 +msgid "The vector in (x, y, z). Shape is (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_apply_yaw:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_rotate:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_rotate_inverse:6 +msgid "The rotated vector in (x, y, z). Shape is (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_angle_axis:3 +msgid "The angle turned anti-clockwise in radians around the vector's direction. Shape is (N,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_from_angle_axis:4 +msgid "The axis of rotation. Shape is (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.axis_angle_from_quat:4 +msgid "The tolerance for Taylor approximation. Defaults to 1.0e-6." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.axis_angle_from_quat:6 +msgid "Rotations given as a vector in axis angle form. Shape is (..., 3). The vector's magnitude is the angle turned anti-clockwise in radians around the vector's direction." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.axis_angle_from_quat:10 +msgid "https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L526-L554" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.quat_error_magnitude:6 +msgid "Angular error between input quaternions in radians." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.skew_symmetric_matrix:3 +msgid "The input vector. Shape is (3,) or (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.skew_symmetric_matrix:5 +msgid "The skew-symmetric matrix. Shape is (1, 3, 3) or (N, 3, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.skew_symmetric_matrix:7 +msgid "If input tensor is not of shape (..., 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.is_identity_pose:3 +msgid "The function checks if the input position and orientation are close to zero and identity respectively using L2-norm. It does NOT check the error in the orientation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.is_identity_pose:6 +msgid "The cartesian position. Shape is (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.is_identity_pose:9 +msgid "True if all the input poses result in identity transform. Otherwise, False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.combine_frame_transforms:3 +msgid "It performs the following transformation operation: :math:`T_{02} = T_{01} \\times T_{12}`, where :math:`T_{AB}` is the homogeneous transformation matrix from frame A to B." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.combine_frame_transforms:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.subtract_frame_transforms:6 +msgid "Position of frame 1 w.r.t. frame 0. Shape is (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.combine_frame_transforms:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.subtract_frame_transforms:7 +msgid "Quaternion orientation of frame 1 w.r.t. frame 0 in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.combine_frame_transforms:8 +msgid "Position of frame 2 w.r.t. frame 1. Shape is (N, 3). Defaults to None, in which case the position is assumed to be zero." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.combine_frame_transforms:10 +msgid "Quaternion orientation of frame 2 w.r.t. frame 1 in (w, x, y, z). Shape is (N, 4). Defaults to None, in which case the orientation is assumed to be identity." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.combine_frame_transforms:13 +msgid "A tuple containing the position and orientation of frame 2 w.r.t. frame 0. Shape of the tensors are (N, 3) and (N, 4) respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.subtract_frame_transforms:3 +msgid "It performs the following transformation operation: :math:`T_{12} = T_{01}^{-1} \\times T_{02}`, where :math:`T_{AB}` is the homogeneous transformation matrix from frame A to B." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.subtract_frame_transforms:8 +msgid "Position of frame 2 w.r.t. frame 0. Shape is (N, 3). Defaults to None, in which case the position is assumed to be zero." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.subtract_frame_transforms:10 +msgid "Quaternion orientation of frame 2 w.r.t. frame 0 in (w, x, y, z). Shape is (N, 4). Defaults to None, in which case the orientation is assumed to be identity." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.subtract_frame_transforms:13 +msgid "A tuple containing the position and orientation of frame 2 w.r.t. frame 1. Shape of the tensors are (N, 3) and (N, 4) respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.apply_delta_pose:7 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.compute_pose_error:3 +msgid "Position of source frame. Shape is (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.compute_pose_error:4 +msgid "Quaternion orientation of source frame in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.compute_pose_error:5 +msgid "Position of target frame. Shape is (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.compute_pose_error:6 +msgid "Quaternion orientation of target frame in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.compute_pose_error:7 +msgid "The rotation error type to return: \"quat\", \"axis_angle\". Defaults to \"axis_angle\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.compute_pose_error:10 +msgid "A tuple containing position and orientation error. Shape of position error is (N, 3). Shape of orientation error depends on the value of :attr:`rot_error_type`: - If :attr:`rot_error_type` is \"quat\", the orientation error is returned as a quaternion. Shape is (N, 4). - If :attr:`rot_error_type` is \"axis_angle\", the orientation error is returned as an axis-angle vector. Shape is (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.compute_pose_error:10 +msgid "A tuple containing position and orientation error. Shape of position error is (N, 3). Shape of orientation error depends on the value of :attr:`rot_error_type`:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.compute_pose_error:13 +msgid "If :attr:`rot_error_type` is \"quat\", the orientation error is returned as a quaternion. Shape is (N, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.compute_pose_error:15 +msgid "If :attr:`rot_error_type` is \"axis_angle\", the orientation error is returned as an axis-angle vector. Shape is (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.compute_pose_error:18 +msgid "Invalid rotation error type." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.apply_delta_pose:3 +msgid "The first three elements of `delta_pose` are interpreted as cartesian position displacement. The remaining three elements of `delta_pose` are interpreted as orientation displacement in the angle-axis format." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.apply_delta_pose:8 +msgid "Quaternion orientation of source frame in (w, x, y, z). Shape is (N, 4).." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.apply_delta_pose:9 +msgid "Position and orientation displacements. Shape is (N, 6)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.apply_delta_pose:10 +msgid "The tolerance to consider orientation displacement as zero. Defaults to 1.0e-6." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.apply_delta_pose:12 +msgid "A tuple containing the displaced position and orientation frames. Shape of the tensors are (N, 3) and (N, 4) respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:3 +msgid "This function transform points from a source frame to a target frame. The transformation is defined by the position :math:`t` and orientation :math:`R` of the target frame in the source frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:6 +msgid "p_{target} = R_{target} \\times p_{source} + t_{target}\n" +"\n" +"" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:9 +msgid "If the input `points` is a batch of points, the inputs `pos` and `quat` must be either a batch of positions and quaternions or a single position and quaternion. If the inputs `pos` and `quat` are a single position and quaternion, the same transformation is applied to all points in the batch." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:13 +msgid "If either the inputs :attr:`pos` and :attr:`quat` are None, the corresponding transformation is not applied." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:15 +msgid "Points to transform. Shape is (N, P, 3) or (P, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:16 +msgid "Position of the target frame. Shape is (N, 3) or (3,). Defaults to None, in which case the position is assumed to be zero." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:18 +msgid "Quaternion orientation of the target frame in (w, x, y, z). Shape is (N, 4) or (4,). Defaults to None, in which case the orientation is assumed to be identity." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:21 +msgid "Transformed points in the target frame. Shape is (N, P, 3) or (P, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:23 +msgid "If the inputs `points` is not of shape (N, P, 3) or (P, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:24 +msgid "If the inputs `pos` is not of shape (N, 3) or (3,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.transform_points:25 +msgid "If the inputs `quat` is not of shape (N, 4) or (4,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unproject_depth:3 +msgid "This function converts depth images into points given the calibration matrix of the camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unproject_depth:5 +msgid "p_{3D} = K^{-1} \\times [u, v, 1]^T \\times d\n" +"\n" +"" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unproject_depth:8 +msgid "where :math:`p_{3D}` is the 3D point, :math:`d` is the depth value, :math:`u` and :math:`v` are the pixel coordinates and :math:`K` is the intrinsic matrix." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unproject_depth:11 +msgid "If `depth` is a batch of depth images and `intrinsics` is a single intrinsic matrix, the same calibration matrix is applied to all depth images in the batch." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unproject_depth:14 +msgid "The function assumes that the width and height are both greater than 1. This makes the function deal with many possible shapes of depth images and intrinsics matrices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unproject_depth:17 +msgid "The depth measurement. Shape is (H, W) or or (H, W, 1) or (N, H, W) or (N, H, W, 1)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unproject_depth:18 +msgid "A tensor providing camera's calibration matrix. Shape is (3, 3) or (N, 3, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.project_points:20 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unproject_depth:20 +msgid "The 3D coordinates of points. Shape is (P, 3) or (N, P, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unproject_depth:22 +msgid "When depth is not of shape (H, W) or (H, W, 1) or (N, H, W) or (N, H, W, 1)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.unproject_depth:23 +msgid "When intrinsics is not of shape (3, 3) or (N, 3, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.project_points:3 +msgid "This project 3D points into a 2D image plane. The transformation is defined by the intrinsic matrix of the camera." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.project_points:6 +msgid "\\begin{align}\n" +" p &= K \\times p_{3D} = \\\\\n" +" p_{2D} &= \\begin{pmatrix} u \\\\ v \\\\ d \\end{pmatrix}\n" +" = \\begin{pmatrix} p[0] / p[2] \\\\ p[1] / p[2] \\\\ Z \\end{pmatrix}\n" +"\\end{align}" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.project_points:14 +msgid "where :math:`p_{2D} = (u, v, d)` is the projected 3D point, :math:`p_{3D} = (X, Y, Z)` is the 3D point and :math:`K \\in \\mathbb{R}^{3 \\times 3}` is the intrinsic matrix." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.project_points:17 +msgid "If `points` is a batch of 3D points and `intrinsics` is a single intrinsic matrix, the same calibration matrix is applied to all points in the batch." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.project_points:21 +msgid "Camera's calibration matrix. Shape is (3, 3) or (N, 3, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.project_points:23 +msgid "Projected 3D coordinates of points. Shape is (P, 3) or (N, P, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.default_orientation:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.random_orientation:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.random_yaw_orientation:3 +msgid "The number of rotations to sample." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.default_orientation:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.random_orientation:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.random_yaw_orientation:4 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_cylinder:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_gaussian:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_log_uniform:14 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_triangle:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_uniform:6 +msgid "Device to create tensor on." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.default_orientation:6 +msgid "Identity quaternion in (w, x, y, z). Shape is (num, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.random_orientation:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.random_yaw_orientation:6 +msgid "Sampled quaternion in (w, x, y, z). Shape is (num, 4)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.random_orientation:9 +msgid "https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.random.html" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_triangle:3 +msgid "The lower range of the sampled tensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_triangle:4 +msgid "The upper range of the sampled tensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_cylinder:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_gaussian:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_log_uniform:13 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_triangle:5 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_uniform:5 +msgid "The shape of the tensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_log_uniform:16 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_triangle:8 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_uniform:8 +msgid "Sampled tensor. Shape is based on :attr:`size`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_log_uniform:11 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_uniform:3 +msgid "Lower bound of uniform range." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_log_uniform:12 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_uniform:4 +msgid "Upper bound of uniform range." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_log_uniform:3 +msgid "The log-uniform distribution is defined as a uniform distribution in the log-space. It is useful for sampling values that span several orders of magnitude. The sampled values are uniformly distributed in the log-space and then exponentiated to get the final values." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_log_uniform:7 +msgid "x = \\exp(\\text{uniform}(\\log(\\text{lower}), \\log(\\text{upper})))" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_gaussian:3 +msgid "Mean of the gaussian." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_gaussian:4 +msgid "Std of the gaussian." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_gaussian:8 +msgid "Sampled tensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_cylinder:3 +msgid "The cylinder is centered at the origin and aligned with the z-axis. The height of the cylinder is sampled uniformly from the range :obj:`h_range`, while the radius is fixed to :obj:`radius`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_cylinder:6 +msgid "The sampled points are returned as a tensor of shape :obj:`(*size, 3)`, i.e. the last dimension contains the x, y, and z coordinates of the sampled points." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_cylinder:9 +msgid "The radius of the cylinder." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_cylinder:10 +msgid "The minimum and maximum height of the cylinder." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py:docstring of omni.isaac.lab.utils.math.sample_cylinder:14 +msgid "Sampled tensor. Shape is :obj:`(*size, 3)`." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:91 +msgid "Noise operations" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:3 +msgid "The noise models are implemented as functions that take in a tensor and a configuration and return a tensor with the noise applied. These functions are then used in the :class:`NoiseCfg` configuration class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`NoiseCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1 +msgid "Base configuration for a noise term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`AdditiveGaussianNoiseCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +msgid "alias of :py:class:`~omni.isaac.lab.utils.noise.noise_cfg.GaussianNoiseCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`AdditiveUniformNoiseCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +msgid "alias of :py:class:`~omni.isaac.lab.utils.noise.noise_cfg.UniformNoiseCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`ConstantBiasNoiseCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +msgid "alias of :py:class:`~omni.isaac.lab.utils.noise.noise_cfg.ConstantNoiseCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`ConstantNoiseCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.ConstantNoiseCfg:1 +msgid "Configuration for an additive constant noise term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`GaussianNoiseCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.GaussianNoiseCfg:1 +msgid "Configuration for an additive gaussian noise term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`NoiseModelCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg:1 +msgid "Configuration for a noise model." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`NoiseModelWithAdditiveBiasCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseModelWithAdditiveBiasCfg:1 +msgid "Configuration for an additive gaussian noise with bias model." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`UniformNoiseCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.UniformNoiseCfg:1 +msgid "Configuration for a additive uniform noise term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`NoiseModel `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel:1 +msgid "Base class for noise models." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`NoiseModelWithAdditiveBias `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:1 +msgid "Noise model with an additive bias." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1::1 +msgid ":py:obj:`constant_noise `\\ \\(data\\, cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise.noise_model.constant_noise:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1::1 +msgid "Constant noise." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1::1 +msgid ":py:obj:`gaussian_noise `\\ \\(data\\, cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise.noise_model.gaussian_noise:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1::1 +msgid "Gaussian noise." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1::1 +msgid ":py:obj:`uniform_noise `\\ \\(data\\, cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/__init__.py:docstring of omni.isaac.lab.utils.noise.noise_model.uniform_noise:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1::1 +msgid "Uniform noise." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.NoiseCfg.operation:1::1 +msgid ":py:obj:`operation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.NoiseCfg.operation:1::1 +msgid "The operation to apply the noise on the data." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.noise.ConstantNoiseCfg.operation:1 +#: ../../docstring of omni.isaac.lab.utils.noise.GaussianNoiseCfg.operation:1 +#: ../../docstring of omni.isaac.lab.utils.noise.NoiseCfg.operation:1 +#: ../../docstring of omni.isaac.lab.utils.noise.UniformNoiseCfg.operation:1 +msgid "The operation to apply the noise on the data. Defaults to \"add\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.ConstantNoiseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.GaussianNoiseCfg:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.UniformNoiseCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.ConstantNoiseCfg.bias:1::1 +msgid ":py:obj:`bias `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.ConstantNoiseCfg.bias:1::1 +msgid "The bias to add." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.noise.ConstantNoiseCfg.bias:1 +msgid "The bias to add. Defaults to 0.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean:1::1 +msgid ":py:obj:`mean `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean:1::1 +msgid "The mean of the noise." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean:1::1 +msgid ":py:obj:`std `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean:1::1 +msgid "The standard deviation of the noise." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean:1 +msgid "The mean of the noise. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.noise.GaussianNoiseCfg.std:1 +msgid "The standard deviation of the noise. Defaults to 1.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg:1::1 +msgid ":py:obj:`class_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg:1::1 +msgid "alias of :py:class:`~omni.isaac.lab.utils.noise.noise_model.NoiseModel`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel:1::1 +msgid ":py:obj:`noise_cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel:1::1 +#: ../../docstring of omni.isaac.lab.utils.noise.NoiseModelCfg.noise_cfg:1 +#: ../../docstring of omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.noise_cfg:1 +msgid "The noise configuration to use." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel:1::1 +msgid ":py:obj:`apply `\\ \\(data\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel.apply:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel.apply:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel:1::1 +msgid "Apply the noise to the data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel:1::1 +msgid ":py:obj:`reset `\\ \\(env\\_ids\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel.apply:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.apply:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.reset:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:1::1 +msgid "Reset the noise model." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.noise_cfg.NoiseModelWithAdditiveBiasCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.noise_cfg:1::1 +msgid ":py:obj:`class_type `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.noise_cfg:1::1 +msgid "alias of :py:class:`~omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:1::1 +msgid ":py:obj:`apply `\\ \\(data\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.apply:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.apply:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:1::1 +msgid "Apply the noise + bias." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:1::1 +msgid ":py:obj:`reset `\\ \\(env\\_ids\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min:1::1 +msgid ":py:obj:`n_min `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min:1::1 +msgid "The minimum value of the noise." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min:1::1 +msgid ":py:obj:`n_max `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_cfg.py:docstring of omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min:1::1 +msgid "The maximum value of the noise." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min:1 +msgid "The minimum value of the noise. Defaults to -1.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.noise.UniformNoiseCfg.n_max:1 +msgid "The maximum value of the noise. Defaults to 1.0." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel.apply:1::1 +msgid ":py:obj:`apply `\\ \\(data\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel.apply:1::1 +msgid ":py:obj:`reset `\\ \\(env\\_ids\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel.apply:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.apply:3 +msgid "The data to apply the noise to, which is a tensor of shape (num_envs, \\*data_shape)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel.reset:3 +msgid "This method can be implemented by derived classes to reset the noise model. This is useful when implementing temporal noise models such as random walk." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModel.reset:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.reset:5 +msgid "The environment ids to reset the noise model for." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:1 +msgid "Bases: :py:class:`~omni.isaac.lab.utils.noise.noise_model.NoiseModel`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:3 +msgid "The bias term is sampled from a the specified distribution on reset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.apply:1::1 +msgid ":py:obj:`apply `\\ \\(data\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.apply:1::1 +msgid ":py:obj:`reset `\\ \\(env\\_ids\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/noise/noise_model.py:docstring of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.reset:3 +msgid "This method resets the bias term for the specified environments." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:101 +msgid "String operations" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid ":py:obj:`to_camel_case `\\ \\(snake\\_str\\[\\, to\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "Converts a string from snake case to camel case." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid ":py:obj:`to_snake_case `\\ \\(camel\\_str\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_snake_case:1 +msgid "Converts a string from camel case to snake case." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid ":py:obj:`is_lambda_expression `\\ \\(name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.is_lambda_expression:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "Checks if the input string is a lambda expression." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid ":py:obj:`callable_to_string `\\ \\(value\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.callable_to_string:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "Converts a callable object to a string." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid ":py:obj:`string_to_callable `\\ \\(name\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.string_to_callable:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "Resolves the module and function names to return the function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid ":py:obj:`resolve_matching_names `\\ \\(keys\\, list\\_of\\_strings\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "Match a list of query regular expressions against a list of strings and return the matched indices and names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid ":py:obj:`resolve_matching_names_values `\\ \\(data\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names_values:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "Match a list of regular expressions in a dictionary against a list of strings and return the matched indices, names, and values." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:3 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_snake_case:5 +msgid "A string in snake case (i.e. with '_')" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:4 +msgid "Convention to convert string to. Defaults to \"cC\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:6 +msgid "Invalid input argument `to`, i.e. not \"cC\" or \"CC\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_camel_case:8 +msgid "A string in camel-case format." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.to_snake_case:3 +msgid "A string in camel case." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.is_lambda_expression:3 +msgid "The input string." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.is_lambda_expression:5 +msgid "Whether the input string is a lambda expression." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.callable_to_string:3 +msgid "A callable object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.callable_to_string:5 +msgid "When the input argument is not a callable object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.callable_to_string:7 +msgid "A string representation of the callable object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.string_to_callable:3 +msgid "The function name. The format should be 'module:attribute_name' or a lambda expression of format: 'lambda x: x'." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.string_to_callable:6 +msgid "When the resolved attribute is not a function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.string_to_callable:7 +msgid "When the module cannot be found." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.string_to_callable:9 +msgid "The function loaded from the module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.string_to_callable:0 +msgid "Return type" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:3 +msgid "When a list of query regular expressions is provided, the function checks each target string against each query regular expression and returns the indices of the matched strings and the matched strings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:6 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names_values:4 +msgid "If the :attr:`preserve_order` is True, the ordering of the matched indices and names is the same as the order of the provided list of strings. This means that the ordering is dictated by the order of the target strings and not the order of the query regular expressions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:10 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names_values:8 +msgid "If the :attr:`preserve_order` is False, the ordering of the matched indices and names is the same as the order of the provided list of query regular expressions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:13 +msgid "For example, consider the list of strings is ['a', 'b', 'c', 'd', 'e'] and the regular expressions are ['a|c', 'b']. If :attr:`preserve_order` is False, then the function will return the indices of the matched strings and the strings as: ([0, 1, 2], ['a', 'b', 'c']). When :attr:`preserve_order` is True, it will return them as: ([0, 2, 1], ['a', 'c', 'b'])." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:18 +msgid "The function does not sort the indices. It returns the indices in the order they are found." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:20 +msgid "A regular expression or a list of regular expressions to match the strings in the list." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:21 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names_values:17 +msgid "A list of strings to match." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:22 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names_values:18 +msgid "Whether to preserve the order of the query keys in the returned values. Defaults to False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:24 +msgid "A tuple of lists containing the matched indices and names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:26 +msgid "When multiple matches are found for a string in the list." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names:27 +msgid "When not all regular expressions are matched." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names_values:11 +msgid "For example, consider the dictionary is {\"a|d|e\": 1, \"b|c\": 2}, the list of strings is ['a', 'b', 'c', 'd', 'e']. If :attr:`preserve_order` is False, then the function will return the indices of the matched strings, the matched strings, and the values as: ([0, 1, 2, 3, 4], ['a', 'b', 'c', 'd', 'e'], [1, 2, 2, 1, 1]). When :attr:`preserve_order` is True, it will return them as: ([0, 3, 4, 1, 2], ['a', 'd', 'e', 'b', 'c'], [1, 1, 1, 2, 2])." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names_values:16 +msgid "A dictionary of regular expressions and values to match the strings in the list." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names_values:20 +msgid "A tuple of lists containing the matched indices, names, and values." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names_values:22 +msgid "When the input argument :attr:`data` is not a dictionary." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names_values:23 +msgid "When multiple matches are found for a string in the dictionary." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/string.py:docstring of omni.isaac.lab.utils.string.resolve_matching_names_values:24 +msgid "When not all regular expressions in the data keys are matched." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:108 +msgid "Timer operations" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer:1 +msgid "**Exceptions:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer:1::1 +msgid ":py:obj:`TimerError `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.TimerError:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer:1::1 +msgid "A custom exception used to report errors in use of :class:`Timer` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.TimerError:1::1 +msgid ":py:obj:`Timer `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.TimerError:1::1 +msgid "A timer for performance measurements." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.TimerError:1 +msgid "Bases: :py:class:`Exception`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:1 +msgid "Bases: :py:class:`~contextlib.ContextDecorator`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:3 +msgid "A class to keep track of time for performance measurement. It allows timing via context managers and decorators as well." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:6 +msgid "It uses the `time.perf_counter` function to measure time. This function returns the number of seconds since the epoch as a float. It has the highest resolution available on the system." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:10 +msgid "As a regular object:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:27 +msgid "As a context manager:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:39 +msgid "Reference: https://gist.github.com/sumeet/1123871" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\[msg\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer.__init__:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:1::1 +msgid "Initializes the timer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:1::1 +msgid ":py:obj:`start `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer.start:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:1::1 +msgid "Start timing." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:1::1 +msgid ":py:obj:`stop `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer.stop:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer:1::1 +msgid "Stop timing." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer.__init__:1::1 +msgid ":py:obj:`time_elapsed `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer.time_elapsed:1 +msgid "The number of seconds that have elapsed since this timer started timing." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer.__init__:1::1 +msgid ":py:obj:`total_run_time `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer.total_run_time:1 +msgid "The number of seconds that elapsed from when the timer started to when it ended." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer.__init__:3 +msgid "The message to display when using the timer class in a context manager. Defaults to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py:docstring of omni.isaac.lab.utils.timer.Timer.time_elapsed:3 +msgid "This is used for checking how much time has elapsed while the timer is still running." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:115 +msgid "Warp operations" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:1::1 +msgid ":py:obj:`convert_to_warp_mesh `\\ \\(points\\, indices\\, device\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:1::1 +msgid "Create a warp mesh object with a mesh defined from vertices and triangles." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:1::1 +msgid ":py:obj:`raycast_mesh `\\ \\(ray\\_starts\\, ray\\_directions\\, mesh\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:1::1 +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:1 +msgid "Performs ray-casting against a mesh." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:3 +msgid "The vertices of the mesh. Shape is (N, 3), where N is the number of vertices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:4 +msgid "The triangles of the mesh as references to vertices for each triangle. Shape is (M, 3), where M is the number of triangles / faces." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:6 +msgid "The device to use for the mesh." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:8 +msgid "The warp mesh object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:3 +msgid "Note that the `ray_starts` and `ray_directions`, and `ray_hits` should have compatible shapes and data types to ensure proper execution. Additionally, they all must be in the same frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:6 +msgid "The starting position of the rays. Shape (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:7 +msgid "The ray directions for each ray. Shape (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:8 +msgid "The warp mesh to ray-cast against." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:9 +msgid "The maximum distance to ray-cast. Defaults to 1e6." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:10 +msgid "Whether to return the distance of the ray until it hits the mesh. Defaults to False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:11 +msgid "Whether to return the normal of the mesh face the ray hits. Defaults to False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:12 +msgid "Whether to return the face id of the mesh face the ray hits. Defaults to False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:14 +msgid "The ray hit position. Shape (N, 3). The returned tensor contains :obj:`float('inf')` for missed hits. The ray hit distance. Shape (N,). Will only return if :attr:`return_distance` is True, else returns None. The returned tensor contains :obj:`float('inf')` for missed hits. The ray hit normal. Shape (N, 3). Will only return if :attr:`return_normal` is True else returns None. The returned tensor contains :obj:`float('inf')` for missed hits. The ray hit face id. Shape (N,). Will only return if :attr:`return_face_id` is True else returns None. The returned tensor contains :obj:`int(-1)` for missed hits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:16 +msgid "The ray hit position. Shape (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:17 +msgid "The returned tensor contains :obj:`float('inf')` for missed hits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:19 +msgid "The ray hit distance. Shape (N,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:19 +msgid "Will only return if :attr:`return_distance` is True, else returns None. The returned tensor contains :obj:`float('inf')` for missed hits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:22 +msgid "The ray hit normal. Shape (N, 3)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:22 +msgid "Will only return if :attr:`return_normal` is True else returns None. The returned tensor contains :obj:`float('inf')` for missed hits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:25 +msgid "The ray hit face id. Shape (N,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/omni/isaac/lab/utils/warp/__init__.py:docstring of omni.isaac.lab.utils.warp.ops.raycast_mesh:25 +msgid "Will only return if :attr:`return_face_id` is True else returns None. The returned tensor contains :obj:`int(-1)` for missed hits." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.pot b/docs/_build/gettext/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.pot new file mode 100644 index 0000000000..fa5f442885 --- /dev/null +++ b/docs/_build/gettext/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.pot @@ -0,0 +1,207 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst:2 +msgid "omni.isaac.lab_tasks.utils.data_collector" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/__init__.py:docstring of omni.isaac.lab_tasks.utils.data_collector:1 +msgid "Sub-module for data collection utilities." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/__init__.py:docstring of omni.isaac.lab_tasks.utils.data_collector:3 +msgid "All post-processed robomimic compatible datasets share the same data structure. A single dataset is a single HDF5 file. The stored data follows the structure provided `here `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/__init__.py:docstring of omni.isaac.lab_tasks.utils.data_collector:7 +msgid "The collector takes input data in its batched format and stores them as different demonstrations, each corresponding to a given environment index. The demonstrations are flushed to disk when the :meth:`RobomimicDataCollector.flush` is called for the respective environments. All the data is saved when the :meth:`RobomimicDataCollector.close()` is called." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/__init__.py:docstring of omni.isaac.lab_tasks.utils.data_collector:13 +msgid "The following sample shows how to use the :class:`RobomimicDataCollector` to store random data in a dataset." +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst:10::1 +msgid ":py:obj:`RobomimicDataCollector `\\" +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst:10::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1 +msgid "Data collection interface for robomimic." +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst:13 +msgid "Robomimic Data Collector" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:3 +msgid "This class implements a data collector interface for saving simulation states to disk. The data is stored in `HDF5`_ binary data format. The class is useful for collecting demonstrations. The collected data follows the `structure`_ from robomimic." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:7 +msgid "All datasets in `robomimic` require the observations and next observations obtained from before and after the environment step. These are stored as a dictionary of observations in the keys \"obs\" and \"next_obs\" respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:11 +msgid "For certain agents in `robomimic`, the episode data should have the following additional keys: \"actions\", \"rewards\", \"dones\". This behavior can be altered by changing the dataset keys required in the training configuration for the respective learning agent." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:15 +msgid "For reference on datasets, please check the robomimic `documentation`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid ":py:obj:`__init__ `\\ \\(env\\_name\\, directory\\_path\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "Initializes the data collection wrapper." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid ":py:obj:`is_stopped `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.is_stopped:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "Whether data collection is stopped or not." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.reset:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "Reset the internals of data logger." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid ":py:obj:`add `\\ \\(key\\, value\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.add:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "Add a key-value pair to the dataset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid ":py:obj:`flush `\\ \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.flush:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "Flush the episode data based on environment indices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid ":py:obj:`close `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.close:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "Stop recording and save the file at its current state." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:1::1 +msgid ":py:obj:`demo_count `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.demo_count:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:1::1 +msgid "The number of demos collected so far." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.add:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.flush:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:3 +msgid "The name of the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:4 +msgid "The path to store collected data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:5 +msgid "The basename of the saved file. Defaults to \"test\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:6 +msgid "Number of demonstrations to record until stopping. Defaults to 1." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:7 +msgid "Frequency to dump data to disk. Defaults to 1." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:8 +msgid "The configuration for the environment. Defaults to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.is_stopped:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.is_stopped:3 +msgid "True if data collection has stopped." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.add:3 +msgid "The key can be nested by using the \"/\" character. For example: \"obs/joint_pos\". Currently only two-level nesting is supported." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.add:6 +msgid "The key name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.add:7 +msgid "The corresponding value of shape (N, ...), where `N` is number of environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.add:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.add:10 +msgid "When provided key has sub-keys more than 2. Example: \"obs/joints/pos\", instead of \"obs/joint_pos\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py:docstring of omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.flush:3 +msgid "Environment indices to write data for. Defaults to (0)." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab_tasks/omni.isaac.lab_tasks.utils.pot b/docs/_build/gettext/source/api/lab_tasks/omni.isaac.lab_tasks.utils.pot new file mode 100644 index 0000000000..ba57270ad7 --- /dev/null +++ b/docs/_build/gettext/source/api/lab_tasks/omni.isaac.lab_tasks.utils.pot @@ -0,0 +1,206 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst:2 +msgid "omni.isaac.lab_tasks.utils" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils:1 +msgid "Sub-package with utilities, data collectors and environment wrappers." +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst:9 +msgid "Submodules" +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst:13::1 +msgid ":py:obj:`data_collector `\\" +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst:13::1 +msgid "Sub-module for data collection utilities." +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst:13::1 +msgid ":py:obj:`wrappers `\\" +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst:13::1 +msgid "Sub-module for environment wrappers to different learning frameworks." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils:1 +msgid "**Functions:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +msgid ":py:obj:`import_packages `\\ \\(package\\_name\\[\\, blacklist\\_pkgs\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.importer.import_packages:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +msgid "Import all sub-packages in a package recursively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +msgid ":py:obj:`get_checkpoint_path `\\ \\(log\\_path\\[\\, run\\_dir\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:1 +msgid "Get path to the model checkpoint in input directory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +msgid ":py:obj:`load_cfg_from_registry `\\ \\(task\\_name\\, ...\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:1 +msgid "Load default configuration given its entry point from the gym registry." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +msgid ":py:obj:`parse_env_cfg `\\ \\(task\\_name\\[\\, use\\_gpu\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:1 +msgid "Parse configuration for an environment and override based on inputs." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.importer.import_packages:3 +msgid "It is easier to use this function to import all sub-packages in a package recursively than to manually import each sub-package." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.importer.import_packages:6 +msgid "It replaces the need of the following code snippet on the top of each package's ``__init__.py`` file:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.importer.import_packages:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.importer.import_packages:14 +msgid "The package name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.importer.import_packages:15 +msgid "The list of blacklisted packages to skip. Defaults to None, which means no packages are blacklisted." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:3 +msgid "The checkpoint file is resolved as: ``//<*other_dirs>/``, where the :attr:`other_dirs` are intermediate folder names to concatenate. These cannot be regex expressions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:6 +msgid "If :attr:`run_dir` and :attr:`checkpoint` are regex expressions then the most recent (highest alphabetical order) run and checkpoint are selected. To disable this behavior, set the flag :attr:`sort_alpha` to False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:9 +msgid "The log directory path to find models in." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:10 +msgid "The regex expression for the name of the directory containing the run. Defaults to the most recent directory created inside :attr:`log_path`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:12 +msgid "The intermediate directories between the run directory and the checkpoint file. Defaults to None, which implies that checkpoint file is directly under the run directory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:14 +msgid "The regex expression for the model checkpoint file. Defaults to the most recent torch-model saved in the :attr:`run_dir` directory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:16 +msgid "Whether to sort the runs by alphabetical order. Defaults to True. If False, the folders in :attr:`run_dir` are sorted by the last modified time." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:19 +msgid "When no runs are found in the input directory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:20 +msgid "When no checkpoints are found in the input directory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:22 +msgid "The path to the model checkpoint." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:3 +msgid "This function loads the configuration object from the gym registry for the given task name. It supports both YAML and Python configuration files." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:6 +msgid "It expects the configuration to be registered in the gym registry as:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:16 +msgid "The parsed configuration object for above example can be obtained as:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:24 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:3 +msgid "The name of the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:25 +msgid "The entry point key to resolve the configuration file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:27 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:10 +msgid "The parsed configuration object. This is either a dictionary or a class object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:29 +msgid "If the entry point key is not available in the gym registry for the task." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:4 +msgid "Whether to use GPU/CPU pipeline. Defaults to None, in which case it is left unchanged." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:5 +msgid "Number of environments to create. Defaults to None, in which case it is left unchanged." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:6 +msgid "Whether to enable/disable fabric interface. If false, all read/write operations go through USD. This slows down the simulation but allows seeing the changes in the USD through the USD stage. Defaults to None, in which case it is left unchanged." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/__init__.py:docstring of omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:12 +msgid "If the task name is not provided, i.e. None." +msgstr "" diff --git a/docs/_build/gettext/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.pot b/docs/_build/gettext/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.pot new file mode 100644 index 0000000000..2ccd0692ae --- /dev/null +++ b/docs/_build/gettext/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.pot @@ -0,0 +1,1056 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 12:43+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst:2 +msgid "omni.isaac.lab_tasks.utils.wrappers" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers:1 +msgid "Sub-module for environment wrappers to different learning frameworks." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers:3 +msgid "Wrappers allow you to modify the behavior of an environment without modifying the environment itself. This is useful for modifying the observation space, action space, or reward function. Additionally, they can be used to cast a given environment into the respective environment class definition used by different learning frameworks. This operation may include handling of asymmetric actor-critic observations, casting the data between different backends such `numpy` and `pytorch`, or organizing the returned data into the expected data structure by the learning framework." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers:10 +msgid "All wrappers work similar to the :class:`gymnasium.Wrapper` class. Using a wrapper is as simple as passing the initialized environment instance to the wrapper constructor. However, since learning frameworks expect different input and output data structures, their wrapper classes are not compatible with each other. Thus, they should always be used in conjunction with the respective learning framework." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers:15 +msgid "For instance, to wrap an environment in the `Stable-Baselines3`_ wrapper, you can do the following:" +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst:7 +msgid "RL-Games Wrapper" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games:1 +msgid "Wrapper to configure an :class:`ManagerBasedRLEnv` instance to RL-Games vectorized environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games:3 +msgid "The following example shows how to wrap an environment for RL-Games and register the environment construction for RL-Games :class:`Runner` class:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3:1 +msgid "**Classes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid ":py:obj:`RlGamesVecEnvWrapper `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "Wraps around Isaac Lab environment for RL-Games." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid ":py:obj:`RlGamesGpuEnv `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "Thin wrapper to create instance of the environment to fit RL-Games runner." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1 +msgid "Bases: :py:class:`~rl_games.common.vecenv.IVecEnv`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:3 +msgid "This class wraps around the Isaac Lab environment. Since RL-Games works directly on GPU buffers, the wrapper handles moving of buffers from the simulation environment to the same device as the learning agent. Additionally, it performs clipping of observations and actions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:8 +msgid "For algorithms like asymmetric actor-critic, RL-Games expects a dictionary for observations. This dictionary contains \"obs\" and \"states\" which typically correspond to the actor and critic observations respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:12 +msgid "To use asymmetric actor-critic, the environment observations from :class:`ManagerBasedRLEnv` must have the key or group name \"critic\". The observation group is used to set the :attr:`num_states` (int) and :attr:`state_space` (:obj:`gym.spaces.Box`). These are used by the learning agent in RL-Games to allocate buffers in the trajectory memory. Since this is optional for some environments, the wrapper checks if these attributes exist. If they don't then the wrapper defaults to zero as number of privileged observations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:21 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:11 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:35 +msgid "This class must be the last wrapper in the wrapper chain. This is because the wrapper does not follow the :class:`gym.Wrapper` interface. Any subsequent wrappers will need to be modified to work with this wrapper." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:28 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:16 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:39 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:7 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:14 +msgid "Reference:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:27 +msgid "https://github.com/Denys88/rl_games/blob/master/rl_games/common/ivecenv.py https://github.com/NVIDIA-Omniverse/IsaacGymEnvs" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1 +msgid "**Methods:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid ":py:obj:`__init__ `\\ \\(env\\, rl\\_device\\, clip\\_obs\\, clip\\_actions\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "Initializes the wrapper instance." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid ":py:obj:`class_name `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.class_name:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.class_name:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.class_name:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid "Returns the class name of the wrapper." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid ":py:obj:`get_number_of_agents `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_number_of_agents:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "Returns number of actors in the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid ":py:obj:`get_env_info `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_env_info:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "Returns the Gym spaces for the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1 +msgid "**Attributes:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +msgid ":py:obj:`render_mode `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.render_mode:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.render_mode:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "Returns the :attr:`Env` :attr:`render_mode`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +msgid ":py:obj:`observation_space `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.state_space:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.observation_space:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "Returns the :attr:`Env` :attr:`observation_space`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +msgid ":py:obj:`action_space `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.action_space:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.action_space:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "Returns the :attr:`Env` :attr:`action_space`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +msgid ":py:obj:`unwrapped `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.unwrapped:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.unwrapped:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.unwrapped:1 +msgid "Returns the base environment of the wrapper." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.num_envs:1 +msgid "Returns the number of sub-environment instances." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.device:1 +msgid "Returns the base environment simulation device." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +msgid ":py:obj:`state_space `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_onnx:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:0 +msgid "Parameters" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:3 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:5 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__:3 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:8 +msgid "The environment to wrap around." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:4 +msgid "The device on which agent computations are performed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:5 +msgid "The clipping value for observations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:6 +msgid "The clipping value for actions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:0 +msgid "Raises" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:8 +msgid "The environment is not inherited from :class:`ManagerBasedRLEnv`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:9 +msgid "If specified, the privileged observations (critic) are not of type :obj:`gym.spaces.Box`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.unwrapped:3 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.unwrapped:3 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.unwrapped:3 +msgid "This will be the bare :class:`gymnasium.Env` environment, underneath all layers of wrappers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:1::1 +msgid ":py:obj:`__init__ `\\ \\(config\\_name\\, num\\_actors\\, \\*\\*kwargs\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:1::1 +msgid "Initialize the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:1::1 +msgid ":py:obj:`get_number_of_agents `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_number_of_agents:1 +msgid "Get number of agents in the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:1::1 +msgid ":py:obj:`get_env_info `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_env_info:1 +msgid "Get the Gym spaces for the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:3 +msgid "The name of the environment configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:4 +msgid "The number of actors in the environment. This is not used in this wrapper." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_env_info:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_number_of_agents:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:0 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:0 +msgid "Returns" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_number_of_agents:3 +msgid "The number of agents in the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rl_games.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_env_info:3 +msgid "The Gym spaces for the environment." +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst:14 +msgid "RSL-RL Wrapper" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl:1 +msgid "Wrappers and utilities to configure an :class:`ManagerBasedRLEnv` for RSL-RL library." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl:1 +msgid "**Functions:**" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl:1::1 +msgid ":py:obj:`export_policy_as_jit `\\ \\(actor\\_critic\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl:1::1 +msgid "Export policy into a Torch JIT file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl:1::1 +msgid ":py:obj:`export_policy_as_onnx `\\ \\(actor\\_critic\\, path\\[\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_onnx:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl:1::1 +msgid "Export policy into a Torch ONNX file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +msgid ":py:obj:`RslRlOnPolicyRunnerCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg:1 +msgid "Configuration of the runner for on-policy algorithms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +msgid ":py:obj:`RslRlPpoActorCriticCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1 +msgid "Configuration for the PPO actor-critic networks." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +msgid ":py:obj:`RslRlPpoAlgorithmCfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1 +msgid "Configuration for the PPO algorithm." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +msgid ":py:obj:`RslRlVecEnvWrapper `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1 +msgid "Wraps around Isaac Lab environment for RSL-RL library" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:3 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_onnx:3 +msgid "The actor-critic torch module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:4 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_onnx:4 +msgid "The empirical normalizer module. If None, Identity is used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:5 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_onnx:5 +msgid "The path to the saving directory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:6 +msgid "The name of exported JIT file. Defaults to \"policy.pt\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_onnx:6 +msgid "The name of exported ONNX file. Defaults to \"policy.onnx\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/__init__.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_onnx:7 +msgid "Whether to print the model summary. Defaults to False." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\[seed\\, device\\, num\\_steps\\_per\\_env\\, ...\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`seed `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The seed for the experiment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`num_steps_per_env `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.num_steps_per_env:1 +msgid "The number of steps per environment per update." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`max_iterations `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.max_iterations:1 +msgid "The maximum number of iterations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`empirical_normalization `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.empirical_normalization:1 +msgid "Whether to use empirical normalization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`policy `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.policy:1 +msgid "The policy configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`algorithm `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.algorithm:1 +msgid "The algorithm configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`save_interval `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.save_interval:1 +msgid "The number of iterations between saves." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`experiment_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.experiment_name:1 +msgid "The experiment name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`run_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The run name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`logger `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The logger to use." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`neptune_project `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The neptune project name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`wandb_project `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The wandb project name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`resume `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "Whether to resume." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`load_run `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The run directory to load." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid ":py:obj:`load_checkpoint `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The checkpoint file to load." +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.seed:1 +msgid "The seed for the experiment. Default is 42." +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.device:0 +msgid "type" +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.device:7 +msgid "The device for the rl-agent. Default is cuda" +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.run_name:1 +msgid "The run name. Default is empty string." +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.run_name:3 +msgid "The name of the run directory is typically the time-stamp at execution. If the run name is not empty, then it is appended to the run directory's name, i.e. the logging directory's name will become ``{time-stamp}_{run_name}``." +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.logger:1 +msgid "The logger to use. Default is tensorboard." +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.neptune_project:1 +msgid "The neptune project name. Default is \"isaaclab\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.wandb_project:1 +msgid "The wandb project name. Default is \"isaaclab\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.resume:1 +msgid "Whether to resume. Default is False." +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_run:1 +msgid "The run directory to load. Default is \".*\" (all)." +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_run:3 +msgid "If regex expression, the latest (alphabetical order) matching run will be loaded." +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_checkpoint:1 +msgid "The checkpoint file to load. Default is ``\"model_.*.pt\"`` (all)." +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_checkpoint:3 +msgid "If regex expression, the latest (alphabetical order) matching file will be loaded." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid ":py:obj:`class_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid "The policy class name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid ":py:obj:`init_noise_std `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.init_noise_std:1 +msgid "The initial noise standard deviation for the policy." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid ":py:obj:`actor_hidden_dims `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.actor_hidden_dims:1 +msgid "The hidden dimensions of the actor network." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid ":py:obj:`critic_hidden_dims `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.critic_hidden_dims:1 +msgid "The hidden dimensions of the critic network." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid ":py:obj:`activation `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.activation:1 +msgid "The activation function for the actor and critic networks." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.class_name:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\[class\\_name\\, init\\_noise\\_std\\, ...\\]\\)" +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.class_name:1 +msgid "The policy class name. Default is ActorCritic." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid ":py:obj:`class_name `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "The algorithm class name." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid ":py:obj:`value_loss_coef `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.value_loss_coef:1 +msgid "The coefficient for the value loss." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid ":py:obj:`use_clipped_value_loss `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.use_clipped_value_loss:1 +msgid "Whether to use clipped value loss." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid ":py:obj:`clip_param `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.clip_param:1 +msgid "The clipping parameter for the policy." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid ":py:obj:`entropy_coef `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.entropy_coef:1 +msgid "The coefficient for the entropy loss." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid ":py:obj:`num_learning_epochs `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_learning_epochs:1 +msgid "The number of learning epochs per update." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid ":py:obj:`num_mini_batches `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_mini_batches:1 +msgid "The number of mini-batches per update." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid ":py:obj:`learning_rate `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.learning_rate:1 +msgid "The learning rate for the policy." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid ":py:obj:`schedule `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.schedule:1 +msgid "The learning rate schedule." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid ":py:obj:`gamma `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.gamma:1 +msgid "The discount factor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid ":py:obj:`lam `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.lam:1 +msgid "The lambda parameter for Generalized Advantage Estimation (GAE)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid ":py:obj:`desired_kl `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.desired_kl:1 +msgid "The desired KL divergence." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid ":py:obj:`max_grad_norm `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.max_grad_norm:1 +msgid "The maximum gradient norm." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/rl_cfg.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.class_name:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\[class\\_name\\, value\\_loss\\_coef\\, ...\\]\\)" +msgstr "" + +#: ../../docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.class_name:1 +msgid "The algorithm class name. Default is PPO." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1 +msgid "Bases: :py:class:`~rsl_rl.env.VecEnv`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:3 +msgid "To use asymmetric actor-critic, the environment instance must have the attributes :attr:`num_privileged_obs` (int). This is used by the learning agent to allocate buffers in the trajectory memory. Additionally, the returned observations should have the key \"critic\" which corresponds to the privileged observations. Since this is optional for some environments, the wrapper checks if these attributes exist. If they don't then the wrapper defaults to zero as number of privileged observations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:16 +msgid "https://github.com/leggedrobotics/rsl_rl/blob/master/rsl_rl/env/vec_env.py" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1::1 +msgid ":py:obj:`__init__ `\\ \\(env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1::1 +msgid "Initializes the wrapper." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1::1 +msgid ":py:obj:`class_name `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1::1 +msgid ":py:obj:`get_observations `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.get_observations:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1::1 +msgid "Returns the current observations of the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.cfg:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "Returns the configuration class instance of the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid ":py:obj:`render_mode `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid ":py:obj:`observation_space `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid ":py:obj:`action_space `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid ":py:obj:`unwrapped `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid ":py:obj:`episode_length_buf `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.episode_length_buf:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "The episode length buffer." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:3 +msgid "The wrapper calls :meth:`reset` at the start since the RSL-RL runner does not call reset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py:docstring of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:7 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__:5 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:11 +msgid "When the environment is not an instance of :class:`ManagerBasedRLEnv`." +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst:22 +msgid "SKRL Wrapper" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl:1 +msgid "Wrapper to configure an :class:`ManagerBasedRLEnv` instance to skrl environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl:3 +msgid "The following example shows how to wrap an environment for skrl:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl:11 +msgid "Or, equivalently, by directly calling the skrl library API as follows:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:1::1 +msgid ":py:obj:`process_skrl_cfg `\\ \\(cfg\\[\\, ml\\_framework\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:1::1 +msgid "Convert simple YAML types to skrl classes/components." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:1::1 +msgid ":py:obj:`SkrlVecEnvWrapper `\\ \\(env\\[\\, ml\\_framework\\]\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:1::1 +msgid "Wraps around Isaac Lab environment for skrl." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:3 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:3 +msgid "A configuration dictionary." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:9 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:4 +msgid "The ML framework to use for the wrapper. Defaults to \"torch\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:5 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:6 +msgid "A dictionary containing the converted configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:12 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:8 +msgid "If the specified ML framework is not valid." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:3 +msgid "This function wraps around the Isaac Lab environment. Since the :class:`ManagerBasedRLEnv` environment wrapping functionality is defined within the skrl library itself, this implementation is maintained for compatibility with the structure of the extension that contains it. Internally it calls the :func:`wrap_env` from the skrl library API." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/skrl.py:docstring of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:15 +msgid "https://skrl.readthedocs.io/en/latest/api/envs/wrapping.html" +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst:29 +msgid "Stable-Baselines3 Wrapper" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3:1 +msgid "Wrapper to configure an :class:`ManagerBasedRLEnv` instance to Stable-Baselines3 vectorized environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3:3 +msgid "The following example shows how to wrap an environment for Stable-Baselines3:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3:1::1 +msgid ":py:obj:`process_sb3_cfg `\\ \\(cfg\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3:1::1 +msgid "Convert simple YAML types to Stable-Baselines classes/components." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:1::1 +msgid ":py:obj:`Sb3VecEnvWrapper `\\" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:1::1 +msgid "Wraps around Isaac Lab environment for Stable Baselines3." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:8 +msgid "https://github.com/DLR-RM/rl-baselines3-zoo/blob/0e5eb145faefa33e7d79c7f8c179788574b20da5/utils/exp_manager.py#L358" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1 +msgid "Bases: :py:class:`~stable_baselines3.common.vec_env.base_vec_env.VecEnv`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:3 +msgid "Isaac Sim internally implements a vectorized environment. However, since it is still considered a single environment instance, Stable Baselines tries to wrap around it using the :class:`DummyVecEnv`. This is only done if the environment is not inheriting from their :class:`VecEnv`. Thus, this class thinly wraps over the environment from :class:`ManagerBasedRLEnv`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:11 +msgid "While Stable-Baselines3 supports Gym 0.26+ API, their vectorized environment still uses the old API (i.e. it is closer to Gym 0.21). Thus, we implement the old API for the vectorized environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:15 +msgid "We also add monitoring functionality that computes the un-discounted episode return and length. This information is added to the info dicts under key `episode`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:18 +msgid "In contrast to the Isaac Lab environment, stable-baselines expect the following:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:20 +msgid "numpy datatype for MDP signals" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:21 +msgid "a list of info dicts for each sub-environment (instead of a dict)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:22 +msgid "when environment has terminated, the observations from the environment should correspond to the one after reset. The \"real\" final observation is passed using the info dicts under the key ``terminal_observation``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:28 +msgid "By the nature of physics stepping in Isaac Sim, it is not possible to forward the simulation buffers without performing a physics step. Thus, reset is performed inside the :meth:`step()` function after the actual physics step is taken. Thus, the returned observations for terminated environments is the one after the reset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:41 +msgid "https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:42 +msgid "https://stable-baselines3.readthedocs.io/en/master/common/monitor.html" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid ":py:obj:`__init__ `\\ \\(env\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid "Initialize the wrapper." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid ":py:obj:`class_name `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid ":py:obj:`get_episode_rewards `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_rewards:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid "Returns the rewards of all the episodes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid ":py:obj:`get_episode_lengths `\\ \\(\\)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_lengths:1 +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid "Returns the number of time-steps of all the episodes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/sb3.py:docstring of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__:1::1 +msgid ":py:obj:`unwrapped `\\" +msgstr "" diff --git a/docs/_build/gettext/source/deployment/cluster.pot b/docs/_build/gettext/source/deployment/cluster.pot new file mode 100644 index 0000000000..31920be8d2 --- /dev/null +++ b/docs/_build/gettext/source/deployment/cluster.pot @@ -0,0 +1,165 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/deployment/cluster.rst:5 +msgid "Cluster Guide" +msgstr "" + +#: ../../source/deployment/cluster.rst:7 +msgid "Clusters are a great way to speed up training and evaluation of learning algorithms. While the Isaac Lab Docker image can be used to run jobs on a cluster, many clusters only support singularity images. This is because `singularity`_ is designed for ease-of-use on shared multi-user systems and high performance computing (HPC) environments. It does not require root privileges to run containers and can be used to run user-defined containers." +msgstr "" + +#: ../../source/deployment/cluster.rst:14 +msgid "Singularity is compatible with all Docker images. In this section, we describe how to convert the Isaac Lab Docker image into a singularity image and use it to submit jobs to a cluster." +msgstr "" + +#: ../../source/deployment/cluster.rst:19 +msgid "Cluster setup varies across different institutions. The following instructions have been tested on the `ETH Zurich Euler`_ cluster, which uses the SLURM workload manager." +msgstr "" + +#: ../../source/deployment/cluster.rst:22 +msgid "The instructions may need to be adapted for other clusters. If you have successfully adapted the instructions for another cluster, please consider contributing to the documentation." +msgstr "" + +#: ../../source/deployment/cluster.rst:28 +msgid "Setup Instructions" +msgstr "" + +#: ../../source/deployment/cluster.rst:30 +msgid "In order to export the Docker Image to a singularity image, `apptainer`_ is required. A detailed overview of the installation procedure for ``apptainer`` can be found in its `documentation`_. For convenience, we summarize the steps here for a local installation:" +msgstr "" + +#: ../../source/deployment/cluster.rst:42 +msgid "For simplicity, we recommend that an SSH connection is set up between the local development machine and the cluster. Such a connection will simplify the file transfer and prevent the user cluster password from being requested multiple times." +msgstr "" + +#: ../../source/deployment/cluster.rst:47 +msgid "The workflow has been tested with ``apptainer version 1.2.5-1.el7`` and ``docker version 24.0.7``." +msgstr "" + +#: ../../source/deployment/cluster.rst:49 +msgid "``apptainer``: There have been reported binding issues with previous versions (such as ``apptainer version 1.1.3-1.el7``). Please ensure that you are using the latest version." +msgstr "" + +#: ../../source/deployment/cluster.rst:52 +msgid "``Docker``: The latest versions (``25.x``) cannot be used as they are not compatible yet with apptainer/ singularity." +msgstr "" + +#: ../../source/deployment/cluster.rst:55 +msgid "We are waiting for an update from the apptainer team. To track this issue, please check the `forum post`_." +msgstr "" + +#: ../../source/deployment/cluster.rst:58 +msgid "Configuring the cluster parameters" +msgstr "" + +#: ../../source/deployment/cluster.rst:60 +msgid "First, you need to configure the cluster-specific parameters in ``docker/.env.base`` file. The following describes the parameters that need to be configured:" +msgstr "" + +#: ../../source/deployment/cluster.rst:63 +msgid "``CLUSTER_ISAAC_SIM_CACHE_DIR``: The directory on the cluster where the Isaac Sim cache is stored. This directory has to end on ``docker-isaac-sim``. This directory will be copied to the compute node and mounted into the singularity container. It should increase the speed of starting the simulation." +msgstr "" + +#: ../../source/deployment/cluster.rst:68 +msgid "``CLUSTER_ISAACLAB_DIR``: The directory on the cluster where the Isaac Lab code is stored. This directory has to end on ``isaaclab``. This directory will be copied to the compute node and mounted into the singularity container. When a job is submitted, the latest local changes will be copied to the cluster." +msgstr "" + +#: ../../source/deployment/cluster.rst:73 +msgid "``CLUSTER_LOGIN``: The login to the cluster. Typically, this is the user and cluster names, e.g., ``your_user@euler.ethz.ch``." +msgstr "" + +#: ../../source/deployment/cluster.rst:76 +msgid "``CLUSTER_SIF_PATH``: The path on the cluster where the singularity image will be stored. The image will be copied to the compute node but not uploaded again to the cluster when a job is submitted." +msgstr "" + +#: ../../source/deployment/cluster.rst:79 +msgid "``CLUSTER_PYTHON_EXECUTABLE``: The path within Isaac Lab to the Python executable that should be executed in the submitted job." +msgstr "" + +#: ../../source/deployment/cluster.rst:83 +msgid "Exporting to singularity image" +msgstr "" + +#: ../../source/deployment/cluster.rst:85 +msgid "Next, we need to export the Docker image to a singularity image and upload it to the cluster. This step is only required once when the first job is submitted or when the Docker image is updated. For instance, due to an upgrade of the Isaac Sim version, or additional requirements for your project." +msgstr "" + +#: ../../source/deployment/cluster.rst:90 +msgid "To export to a singularity image, execute the following command:" +msgstr "" + +#: ../../source/deployment/cluster.rst:96 +msgid "This command will create a singularity image under ``docker/exports`` directory and upload it to the defined location on the cluster. Be aware that creating the singularity image can take a while. ``[profile]`` is an optional argument that specifies the container profile to be used. If no profile is specified, the default profile ``base`` will be used." +msgstr "" + +#: ../../source/deployment/cluster.rst:103 +msgid "By default, the singularity image is created without root access by providing the ``--fakeroot`` flag to the ``apptainer build`` command. In case the image creation fails, you can try to create it with root access by removing the flag in ``docker/container.sh``." +msgstr "" + +#: ../../source/deployment/cluster.rst:109 +msgid "Job Submission and Execution" +msgstr "" + +#: ../../source/deployment/cluster.rst:112 +msgid "Defining the job parameters" +msgstr "" + +#: ../../source/deployment/cluster.rst:114 +msgid "The job parameters are defined inside the ``docker/cluster/submit_job.sh``. A typical SLURM operation requires specifying the number of CPUs and GPUs, the memory, and the time limit. For more information, please check the `SLURM documentation`_." +msgstr "" + +#: ../../source/deployment/cluster.rst:118 +msgid "The default configuration is as follows:" +msgstr "" + +#: ../../source/deployment/cluster.rst:126 +msgid "An essential requirement for the cluster is that the compute node has access to the internet at all times. This is required to load assets from the Nucleus server. For some cluster architectures, extra modules must be loaded to allow internet access." +msgstr "" + +#: ../../source/deployment/cluster.rst:130 +msgid "For instance, on ETH Zurich Euler cluster, the ``eth_proxy`` module needs to be loaded. This can be done by adding the following line to the ``submit_job.sh`` script:" +msgstr "" + +#: ../../source/deployment/cluster.rst:140 +msgid "Submitting a job" +msgstr "" + +#: ../../source/deployment/cluster.rst:142 +msgid "To submit a job on the cluster, the following command can be used:" +msgstr "" + +#: ../../source/deployment/cluster.rst:148 +msgid "This command will copy the latest changes in your code to the cluster and submit a job. Please ensure that your Python executable's output is stored under ``isaaclab/logs`` as this directory will be copied again from the compute node to ``CLUSTER_ISAACLAB_DIR``." +msgstr "" + +#: ../../source/deployment/cluster.rst:152 +msgid "``[profile]`` is an optional argument that specifies which singularity image corresponding to the container profile will be used. If no profile is specified, the default profile ``base`` will be used. The profile has be defined directlty after the ``job`` command. All other arguments are passed to the Python executable. If no profile is defined, all arguments are passed to the Python executable." +msgstr "" + +#: ../../source/deployment/cluster.rst:157 +msgid "The training arguments are passed to the Python executable. As an example, the standard ANYmal rough terrain locomotion training can be executed with the following command:" +msgstr "" + +#: ../../source/deployment/cluster.rst:164 +msgid "The above will, in addition, also render videos of the training progress and store them under ``isaaclab/logs`` directory." +msgstr "" + +#: ../../source/deployment/cluster.rst:168 +msgid "The ``./docker/container.sh job`` command will copy the latest changes in your code to the cluster. However, it will not delete any files that have been deleted locally. These files will still exist on the cluster which can lead to issues. In this case, we recommend removing the ``CLUSTER_ISAACLAB_DIR`` directory on the cluster and re-run the command." +msgstr "" diff --git a/docs/_build/gettext/source/deployment/docker.pot b/docs/_build/gettext/source/deployment/docker.pot new file mode 100644 index 0000000000..a3f2664252 --- /dev/null +++ b/docs/_build/gettext/source/deployment/docker.pot @@ -0,0 +1,301 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/deployment/docker.rst:5 +msgid "Docker Guide" +msgstr "" + +#: ../../source/deployment/docker.rst:9 +msgid "Due to the dependency on Isaac Sim docker image, by running this container you are implicitly agreeing to the `NVIDIA Omniverse EULA`_. If you do not agree to the EULA, do not run this container." +msgstr "" + +#: ../../source/deployment/docker.rst:13 +msgid "Setup Instructions" +msgstr "" + +#: ../../source/deployment/docker.rst:17 +msgid "The following steps are taken from the NVIDIA Omniverse Isaac Sim documentation on `container installation`_. They have been added here for the sake of completeness." +msgstr "" + +#: ../../source/deployment/docker.rst:22 +msgid "Docker and Docker Compose" +msgstr "" + +#: ../../source/deployment/docker.rst:24 +msgid "We have tested the container using Docker Engine version 26.0.0 and Docker Compose version 2.25.0 We recommend using these versions or newer." +msgstr "" + +#: ../../source/deployment/docker.rst:27 +msgid "To install Docker, please follow the instructions for your operating system on the `Docker website`_." +msgstr "" + +#: ../../source/deployment/docker.rst:28 +msgid "To install Docker Compose, please follow the instructions for your operating system on the `docker compose`_ page." +msgstr "" + +#: ../../source/deployment/docker.rst:29 +msgid "Follow the post-installation steps for Docker on the `post-installation steps`_ page. These steps allow you to run Docker without using ``sudo``." +msgstr "" + +#: ../../source/deployment/docker.rst:31 +msgid "To build and run GPU-accelerated containers, you also need install the `NVIDIA Container Toolkit`_. Please follow the instructions on the `Container Toolkit website`_ for installation steps." +msgstr "" + +#: ../../source/deployment/docker.rst:36 +msgid "Due to limitations with `snap `_, please make sure the Isaac Lab directory is placed under the ``/home`` directory tree when using docker." +msgstr "" + +#: ../../source/deployment/docker.rst:41 +msgid "Obtaining the Isaac Sim Container" +msgstr "" + +#: ../../source/deployment/docker.rst:43 +msgid "Get access to the `Isaac Sim container`_ by joining the NVIDIA Developer Program credentials." +msgstr "" + +#: ../../source/deployment/docker.rst:44 +msgid "Generate your `NGC API key`_ to access locked container images from NVIDIA GPU Cloud (NGC)." +msgstr "" + +#: ../../source/deployment/docker.rst:46 +msgid "This step requires you to create an NGC account if you do not already have one." +msgstr "" + +#: ../../source/deployment/docker.rst:47 +msgid "You would also need to install the NGC CLI to perform operations from the command line." +msgstr "" + +#: ../../source/deployment/docker.rst:48 +msgid "Once you have your generated API key and have installed the NGC CLI, you need to log in to NGC from the terminal." +msgstr "" + +#: ../../source/deployment/docker.rst:55 +msgid "Use the command line to pull the Isaac Sim container image from NGC." +msgstr "" + +#: ../../source/deployment/docker.rst:61 +msgid "For the username, enter ``$oauthtoken`` exactly as shown. It is a special username that is used to authenticate with NGC." +msgstr "" + +#: ../../source/deployment/docker.rst:71 +msgid "Directory Organization" +msgstr "" + +#: ../../source/deployment/docker.rst:73 +msgid "The root of the Isaac Lab repository contains the ``docker`` directory that has various files and scripts needed to run Isaac Lab inside a Docker container. A subset of these are summarized below:" +msgstr "" + +#: ../../source/deployment/docker.rst:76 +msgid "``Dockerfile.base``: Defines the isaaclab image by overlaying Isaac Lab dependencies onto the Isaac Sim Docker image. ``Dockerfiles`` which end with something else, (i.e. ``Dockerfile.ros2``) build an `image_extension <#isaac-lab-image-extensions>`_." +msgstr "" + +#: ../../source/deployment/docker.rst:78 +msgid "``docker-compose.yaml``: Creates mounts to allow direct editing of Isaac Lab code from the host machine that runs the container. It also creates several named volumes such as ``isaac-cache-kit`` to store frequently re-used resources compiled by Isaac Sim, such as shaders, and to retain logs, data, and documents." +msgstr "" + +#: ../../source/deployment/docker.rst:81 +msgid "``base.env``: Stores environment variables required for the ``base`` build process and the container itself. ``.env`` files which end with something else (i.e. ``.env.ros2``) define these for `image_extension <#isaac-lab-image-extensions>`_." +msgstr "" + +#: ../../source/deployment/docker.rst:83 +msgid "``container.sh``: A script that wraps the ``docker compose`` command to build the image and run the container." +msgstr "" + +#: ../../source/deployment/docker.rst:86 +msgid "Running the Container" +msgstr "" + +#: ../../source/deployment/docker.rst:90 +msgid "The docker container copies all the files from the repository into the container at the location ``/workspace/isaaclab`` at build time. This means that any changes made to the files in the container would not normally be reflected in the repository after the image has been built, i.e. after ``./container.sh start`` is run." +msgstr "" + +#: ../../source/deployment/docker.rst:94 +msgid "For a faster development cycle, we mount the following directories in the Isaac Lab repository into the container so that you can edit their files from the host machine:" +msgstr "" + +#: ../../source/deployment/docker.rst:97 +msgid "``source``: This is the directory that contains the Isaac Lab source code." +msgstr "" + +#: ../../source/deployment/docker.rst:98 +msgid "``docs``: This is the directory that contains the source code for Isaac Lab documentation. This is overlaid except for the ``_build`` subdirectory where build artifacts are stored." +msgstr "" + +#: ../../source/deployment/docker.rst:102 +msgid "The script ``container.sh`` wraps around three basic ``docker compose`` commands. Each can accept an `image_extension argument <#isaac-lab-image-extensions>`_, or else they will default to image_extension ``base``:" +msgstr "" + +#: ../../source/deployment/docker.rst:105 +msgid "``start``: This builds the image and brings up the container in detached mode (i.e. in the background)." +msgstr "" + +#: ../../source/deployment/docker.rst:106 +msgid "``enter``: This begins a new bash process in an existing isaaclab container, and which can be exited without bringing down the container." +msgstr "" + +#: ../../source/deployment/docker.rst:108 +msgid "``copy``: This copies the ``logs``, ``data_storage`` and ``docs/_build`` artifacts, from the ``isaac-lab-logs``, ``isaac-lab-data`` and ``isaac-lab-docs`` volumes respectively, to the ``docker/artifacts`` directory. These artifacts persist between docker container instances and are shared between image extensions." +msgstr "" + +#: ../../source/deployment/docker.rst:111 +msgid "``stop``: This brings down the container and removes it." +msgstr "" + +#: ../../source/deployment/docker.rst:113 +msgid "The following shows how to launch the container in a detached state and enter it:" +msgstr "" + +#: ../../source/deployment/docker.rst:124 +msgid "To copy files from the base container to the host machine, you can use the following command:" +msgstr "" + +#: ../../source/deployment/docker.rst:131 +msgid "The script ``container.sh`` provides a wrapper around this command to copy the ``logs`` , ``data_storage`` and ``docs/_build`` directories to the ``docker/artifacts`` directory. This is useful for copying the logs, data and documentation:" +msgstr "" + +#: ../../source/deployment/docker.rst:141 +msgid "Python Interpreter" +msgstr "" + +#: ../../source/deployment/docker.rst:143 +msgid "The container uses the Python interpreter provided by Isaac Sim. This interpreter is located at ``/isaac-sim/python.sh``. We set aliases inside the container to make it easier to run the Python interpreter. You can use the following commands to run the Python interpreter:" +msgstr "" + +#: ../../source/deployment/docker.rst:154 +msgid "Understanding the mounted volumes" +msgstr "" + +#: ../../source/deployment/docker.rst:156 +msgid "The ``docker-compose.yaml`` file creates several named volumes that are mounted to the container. These are summarized below:" +msgstr "" + +#: ../../source/deployment/docker.rst:159 +msgid "``isaac-cache-kit``: This volume is used to store cached Kit resources (`/isaac-sim/kit/cache` in container)" +msgstr "" + +#: ../../source/deployment/docker.rst:160 +msgid "``isaac-cache-ov``: This volume is used to store cached OV resources (`/root/.cache/ov` in container)" +msgstr "" + +#: ../../source/deployment/docker.rst:161 +msgid "``isaac-cache-pip``: This volume is used to store cached pip resources (`/root/.cache/pip`` in container)" +msgstr "" + +#: ../../source/deployment/docker.rst:162 +msgid "``isaac-cache-gl``: This volume is used to store cached GLCache resources (`/root/.cache/nvidia/GLCache` in container)" +msgstr "" + +#: ../../source/deployment/docker.rst:163 +msgid "``isaac-cache-compute``: This volume is used to store cached compute resources (`/root/.nv/ComputeCache` in container)" +msgstr "" + +#: ../../source/deployment/docker.rst:164 +msgid "``isaac-logs``: This volume is used to store logs generated by Omniverse. (`/root/.nvidia-omniverse/logs` in container)" +msgstr "" + +#: ../../source/deployment/docker.rst:165 +msgid "``isaac-carb-logs``: This volume is used to store logs generated by carb. (`/isaac-sim/kit/logs/Kit/Isaac-Sim` in container)" +msgstr "" + +#: ../../source/deployment/docker.rst:166 +msgid "``isaac-data``: This volume is used to store data generated by Omniverse. (`/root/.local/share/ov/data` in container)" +msgstr "" + +#: ../../source/deployment/docker.rst:167 +msgid "``isaac-docs``: This volume is used to store documents generated by Omniverse. (`/root/Documents` in container)" +msgstr "" + +#: ../../source/deployment/docker.rst:168 +msgid "``isaac-lab-docs``: This volume is used to store documentation of Isaac Lab when built inside the container. (`/workspace/isaaclab/docs/_build` in container)" +msgstr "" + +#: ../../source/deployment/docker.rst:169 +msgid "``isaac-lab-logs``: This volume is used to store logs generated by Isaac Lab workflows when run inside the container. (`/workspace/isaaclab/logs` in container)" +msgstr "" + +#: ../../source/deployment/docker.rst:170 +msgid "``isaac-lab-data``: This volume is used to store whatever data users may want to preserve between container runs. (`/workspace/isaaclab/data_storage` in container)" +msgstr "" + +#: ../../source/deployment/docker.rst:172 +msgid "To view the contents of these volumes, you can use the following command:" +msgstr "" + +#: ../../source/deployment/docker.rst:184 +msgid "Isaac Lab Image Extensions" +msgstr "" + +#: ../../source/deployment/docker.rst:186 +msgid "The produced image depends upon the arguments passed to ``./container.sh start`` and ``./container.sh stop``. These commands accept an ``image_extension`` as an additional argument. If no argument is passed, then these commands default to ``base``. Currently, the only valid ``image_extension`` arguments are (``base``, ``ros2``). Only one ``image_extension`` can be passed at a time, and the produced container will be named ``isaaclab``." +msgstr "" + +#: ../../source/deployment/docker.rst:202 +msgid "The passed ``image_extension`` argument will build the image defined in ``Dockerfile.${image_extension}``, with the corresponding `profile`_ in the ``docker-compose.yaml`` and the envars from ``.env.${image_extension}`` in addition to the ``.env.base``, if any." +msgstr "" + +#: ../../source/deployment/docker.rst:207 +msgid "ROS2 Image Extension" +msgstr "" + +#: ../../source/deployment/docker.rst:209 +msgid "In ``Dockerfile.ros2``, the container installs ROS2 Humble via an `apt package`_, and it is sourced in the ``.bashrc``. The exact version is specified by the variable ``ROS_APT_PACKAGE`` in the ``.env.ros2`` file, defaulting to ``ros-base``. Other relevant ROS2 variables are also specified in the ``.env.ros2`` file, including variables defining the `various middleware`_ options. The container defaults to ``FastRTPS``, but ``CylconeDDS`` is also supported. Each of these middlewares can be `tuned`_ using their corresponding ``.xml`` files under ``docker/.ros``." +msgstr "" + +#: ../../source/deployment/docker.rst:217 +msgid "Known Issues" +msgstr "" + +#: ../../source/deployment/docker.rst:220 +msgid "Invalid mount config for type \"bind\"" +msgstr "" + +#: ../../source/deployment/docker.rst:222 +msgid "If you see the following error when building the container:" +msgstr "" + +#: ../../source/deployment/docker.rst:229 +msgid "This means that the ``.Xauthority`` file is not present in the home directory of the host machine. The portion of the docker-compose.yaml that enables this is commented out by default, so this shouldn't happen unless it has been altered. This file is required for X11 forwarding to work. To fix this, you can create an empty ``.Xauthority`` file in your home directory." +msgstr "" + +#: ../../source/deployment/docker.rst:238 +msgid "A similar error but requires a different fix:" +msgstr "" + +#: ../../source/deployment/docker.rst:245 +msgid "This means that the folder/files are either not present or not accessible on the host machine. The portion of the docker-compose.yaml that enables this is commented out by default, so this shouldn't happen unless it has been altered. This usually happens when you have multiple docker versions installed on your machine. To fix this, you can try the following:" +msgstr "" + +#: ../../source/deployment/docker.rst:250 +msgid "Remove all docker versions from your machine." +msgstr "" + +#: ../../source/deployment/docker.rst:259 +msgid "Install the latest version of docker based on the instructions in the setup section." +msgstr "" + +#: ../../source/deployment/docker.rst:262 +msgid "WebRTC Streaming" +msgstr "" + +#: ../../source/deployment/docker.rst:264 +msgid "When streaming the GUI from Isaac Sim, there are `several streaming clients`_ available. There is a `known issue`_ when attempting to use WebRTC streaming client on Google Chrome and Safari while running Isaac Sim inside a container. To avoid this problem, we suggest using the Native Streaming Client or using the Mozilla Firefox browser on which WebRTC works." +msgstr "" + +#: ../../source/deployment/docker.rst:269 +msgid "Streaming is the only supported method for visualizing the Isaac GUI from within the container. The Omniverse Streaming Client is freely available from the Omniverse app, and is easy to use. The other streaming methods similarly require only a web browser. If users want to use X11 forwarding in order to have the apps behave as local GUI windows, they can uncomment the relevant portions in docker-compose.yaml." +msgstr "" diff --git a/docs/_build/gettext/source/deployment/index.pot b/docs/_build/gettext/source/deployment/index.pot new file mode 100644 index 0000000000..a96db65088 --- /dev/null +++ b/docs/_build/gettext/source/deployment/index.pot @@ -0,0 +1,33 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/deployment/index.rst:2 +msgid "Container Deployment" +msgstr "" + +#: ../../source/deployment/index.rst:4 +msgid "Docker is a tool that allows for the creation of containers, which are isolated environments that can be used to run applications. They are useful for ensuring that an application can run on any machine that has Docker installed, regardless of the host machine's operating system or installed libraries." +msgstr "" + +#: ../../source/deployment/index.rst:8 +msgid "We include a Dockerfile and docker-compose.yaml file that can be used to build a Docker image that contains Isaac Lab and all of its dependencies. This image can then be used to run Isaac Lab in a container. The Dockerfile is based on the Isaac Sim image provided by NVIDIA, which includes the Omniverse application launcher and the Isaac Sim application. The Dockerfile installs Isaac Lab and its dependencies on top of this image." +msgstr "" + +#: ../../source/deployment/index.rst:14 +msgid "The following guides provide instructions for building the Docker image and running Isaac Lab in a container." +msgstr "" diff --git a/docs/_build/gettext/source/deployment/run_docker_example.pot b/docs/_build/gettext/source/deployment/run_docker_example.pot new file mode 100644 index 0000000000..bfdca0c4d8 --- /dev/null +++ b/docs/_build/gettext/source/deployment/run_docker_example.pot @@ -0,0 +1,113 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/deployment/run_docker_example.rst:2 +msgid "Running an example with Docker" +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:4 +msgid "From the root of the ``Isaac Lab`` repository, the ``docker`` directory contains all the Docker relevant files. These include the three files (**Dockerfile**, **docker-compose.yaml**, **.env**) which are used by Docker, and an additional script that we use to interface with them, **container.sh**." +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:8 +msgid "In this tutorial, we will learn how to use the Isaac Lab Docker container for development. For a detailed description of the Docker setup, including installation and obtaining access to an Isaac Sim image, please reference the :ref:`deployment-docker`. For a description of Docker in general, please refer to `their official documentation `_." +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:14 +msgid "Building the Container" +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:16 +msgid "To build the Isaac Lab container from the root of the Isaac Lab repository, we will run the following:" +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:24 +msgid "The terminal will first pull the base IsaacSim image, build the Isaac Lab image's additional layers on top of it, and run the Isaac Lab container. This should take several minutes upon the first build but will be shorter in subsequent runs as Docker's caching prevents repeated work. If we run the command ``docker container ls`` on the terminal, the output will list the containers that are running on the system. If everything has been set up correctly, a container with the ``NAME`` **isaaclab** should appear, similar to below:" +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:36 +msgid "Once the container is up and running, we can enter it from our terminal." +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:43 +msgid "On entering the Isaac Lab container, we are in the terminal as the superuser, ``root``. This environment contains a copy of the Isaac Lab repository, but also has access to the directories and libraries of Isaac Sim. We can run experiments from this environment using a few convenient aliases that have been put into the ``root`` **.bashrc**. For instance, we have made the **isaaclab.sh** script usable from anywhere by typing its alias ``isaaclab``." +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:48 +msgid "Additionally in the container, we have `bind mounted`_ the ``IsaacLab/source`` directory from the host machine. This means that if we modify files under this directory from an editor on the host machine, the changes are reflected immediately within the container without requiring us to rebuild the Docker image." +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:52 +msgid "We will now run a sample script from within the container to demonstrate how to extract artifacts from the Isaac Lab Docker container." +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:56 +msgid "The Code" +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:58 +msgid "The tutorial corresponds to the ``log_time.py`` script in the ``IsaacLab/source/standalone/tutorials/00_sim`` directory." +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:0 +msgid "Code for log_time.py" +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:70 +msgid "The Code Explained" +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:72 +msgid "The Isaac Lab Docker container has several `volumes`_ to facilitate persistent storage between the host computer and the container. One such volume is the ``/workspace/isaaclab/logs`` directory. The ``log_time.py`` script designates this directory as the location to which a ``log.txt`` should be written:" +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:82 +msgid "As the comments note, :func:`os.path.abspath()` will prepend ``/workspace/isaaclab`` because in the Docker container all python execution is done through ``/workspace/isaaclab/isaaclab.sh``. The output will be a file, ``log.txt``, with the ``sim_time`` written on a newline at every simulation step:" +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:93 +msgid "Executing the Script" +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:95 +msgid "We will execute the script to produce a log, adding a ``--headless`` flag to our execution to prevent a GUI:" +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:102 +msgid "Now ``log.txt`` will have been produced at ``/workspace/isaaclab/logs/docker_tutorial``. If we exit the container by typing ``exit``, we will return to ``IsaacLab/docker`` in our host terminal environment. We can then enter the following command to retrieve our logs from the Docker container and put them on our host machine:" +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:111 +msgid "We will see a terminal readout reporting the artifacts we have retrieved from the container. If we navigate to ``/isaaclab/docker/artifacts/logs/docker_tutorial``, we will see a copy of the ``log.txt`` file which was produced by the script above." +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:115 +msgid "Each of the directories under ``artifacts`` corresponds to Docker `volumes`_ mapped to directories within the container and the ``container.sh copy`` command copies them from those `volumes`_ to these directories." +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:118 +msgid "We could return to the Isaac Lab Docker terminal environment by running ``container.sh enter`` again, but we have retrieved our logs and wish to go inspect them. We can stop the Isaac Lab Docker container with the following command:" +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:126 +msgid "This will bring down the Docker Isaac Lab container. The image will persist and remain available for further use, as will the contents of any `volumes`_. If we wish to free up the disk space taken by the image, (~20.1GB), and do not mind repeating the build process when we next run ``./container.sh start``, we may enter the following command to delete the **isaaclab** image:" +msgstr "" + +#: ../../source/deployment/run_docker_example.rst:134 +msgid "A subsequent run of ``docker image ls``` will show that the image tagged **isaaclab** is now gone. We can repeat the process for the underlying NVIDIA container if we wish to free up more space. If a more powerful method of freeing resources from Docker is desired, please consult the documentation for the `docker prune`_ commands." +msgstr "" diff --git a/docs/_build/gettext/source/features/actuators.pot b/docs/_build/gettext/source/features/actuators.pot new file mode 100644 index 0000000000..304d44ca85 --- /dev/null +++ b/docs/_build/gettext/source/features/actuators.pot @@ -0,0 +1,86 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/features/actuators.rst:5 +msgid "Actuators" +msgstr "" + +#: ../../source/features/actuators.rst:7 +msgid "An articulated system comprises of actuated joints, also called the degrees of freedom (DOF). In a physical system, the actuation typically happens either through active components, such as electric or hydraulic motors, or passive components, such as springs. These components can introduce certain non-linear characteristics which includes delays or maximum producible velocity or torque." +msgstr "" + +#: ../../source/features/actuators.rst:12 +msgid "In simulation, the joints are either position, velocity, or torque-controlled. For position and velocity control, the physics engine internally implements a spring-damp (PD) controller which computes the torques applied on the actuated joints. In torque-control, the commands are set directly as the joint efforts. While this mimics an ideal behavior of the joint mechanism, it does not truly model how the drives work in the physical world. Thus, we provide a mechanism to inject external models to compute the joint commands that would represent the physical robot's behavior." +msgstr "" + +#: ../../source/features/actuators.rst:20 +msgid "Actuator models" +msgstr "" + +#: ../../source/features/actuators.rst:22 +msgid "We name two different types of actuator models:" +msgstr "" + +#: ../../source/features/actuators.rst:24 +msgid "**implicit**: corresponds to the ideal simulation mechanism (provided by physics engine)." +msgstr "" + +#: ../../source/features/actuators.rst:25 +msgid "**explicit**: corresponds to external drive models (implemented by user)." +msgstr "" + +#: ../../source/features/actuators.rst:27 +msgid "The explicit actuator model performs two steps: 1) it computes the desired joint torques for tracking the input commands, and 2) it clips the desired torques based on the motor capabilities. The clipped torques are the desired actuation efforts that are set into the simulation." +msgstr "" + +#: ../../source/features/actuators.rst:31 +msgid "As an example of an ideal explicit actuator model, we provide the :class:`omni.isaac.lab.actuators.IdealPDActuator` class, which implements a PD controller with feed-forward effort, and simple clipping based on the configured maximum effort:" +msgstr "" + +#: ../../source/features/actuators.rst:35 +msgid "\\tau_{j, computed} & = k_p * (q - q_{des}) + k_d * (\\dot{q} - \\dot{q}_{des}) + \\tau_{ff} \\\\\n" +"\\tau_{j, applied} & = clip(\\tau_{computed}, -\\tau_{j, max}, \\tau_{j, max})" +msgstr "" + +#: ../../source/features/actuators.rst:41 +msgid "where, :math:`k_p` and :math:`k_d` are joint stiffness and damping gains, :math:`q` and :math:`\\dot{q}` are the current joint positions and velocities, :math:`q_{des}`, :math:`\\dot{q}_{des}` and :math:`\\tau_{ff}` are the desired joint positions, velocities and torques commands. The parameters :math:`\\gamma` and :math:`\\tau_{motor, max}` are the gear box ratio and the maximum motor effort possible." +msgstr "" + +#: ../../source/features/actuators.rst:47 +msgid "Actuator groups" +msgstr "" + +#: ../../source/features/actuators.rst:49 +msgid "The actuator models by themselves are computational blocks that take as inputs the desired joint commands and output the joint commands to apply into the simulator. They do not contain any knowledge about the joints they are acting on themselves. These are handled by the :class:`omni.isaac.lab.assets.Articulation` class, which wraps around the physics engine's articulation class." +msgstr "" + +#: ../../source/features/actuators.rst:54 +msgid "Actuator are collected as a set of actuated joints on an articulation that are using the same actuator model. For instance, the quadruped, ANYmal-C, uses series elastic actuator, ANYdrive 3.0, for all its joints. This grouping configures the actuator model for those joints, translates the input commands to the joint level commands, and returns the articulation action to set into the simulator. Having an arm with a different actuator model, such as a DC motor, would require configuring a different actuator group." +msgstr "" + +#: ../../source/features/actuators.rst:60 +msgid "The following figure shows the actuator groups for a legged mobile manipulator:" +msgstr "" + +#: ../../source/features/actuators.rst:-1 +msgid "Actuator models for a legged mobile manipulator" +msgstr "" + +#: ../../source/features/actuators.rst:76 +msgid "We provide implementations for various explicit actuator models. These are detailed in `omni.isaac.lab.actuators <../api/lab/omni.isaac.lab.actuators.html>`_ sub-package." +msgstr "" diff --git a/docs/_build/gettext/source/features/environments.pot b/docs/_build/gettext/source/features/environments.pot new file mode 100644 index 0000000000..c2b50e20c7 --- /dev/null +++ b/docs/_build/gettext/source/features/environments.pot @@ -0,0 +1,585 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/features/environments.rst:2 +msgid "Environments" +msgstr "" + +#: ../../source/features/environments.rst:4 +msgid "The following lists comprises of all the RL tasks implementations that are available in Isaac Lab. While we try to keep this list up-to-date, you can always get the latest list of environments by running the following command:" +msgstr "" + +#: ../../source/features/environments.rst:12 +msgid "We are actively working on adding more environments to the list. If you have any environments that you would like to add to Isaac Lab, please feel free to open a pull request!" +msgstr "" + +#: ../../source/features/environments.rst:16 +msgid "Classic" +msgstr "" + +#: ../../source/features/environments.rst:18 +msgid "Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-style environments." +msgstr "" + +#: ../../source/features/environments.rst:25 +#: ../../source/features/environments.rst:70 +#: ../../source/features/environments.rst:115 +#: ../../source/features/environments.rst:209 +#: ../../source/features/environments.rst:226 +msgid "World" +msgstr "" + +#: ../../source/features/environments.rst:25 +#: ../../source/features/environments.rst:70 +#: ../../source/features/environments.rst:115 +#: ../../source/features/environments.rst:209 +#: ../../source/features/environments.rst:226 +msgid "Environment ID" +msgstr "" + +#: ../../source/features/environments.rst:25 +#: ../../source/features/environments.rst:70 +#: ../../source/features/environments.rst:115 +#: ../../source/features/environments.rst:209 +#: ../../source/features/environments.rst:226 +msgid "Description" +msgstr "" + +#: ../../source/features/environments.rst:27 +msgid "|humanoid|" +msgstr "" + +#: ../../source/features/environments.rst:39 +msgid "humanoid" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|humanoid-link|" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|humanoid-direct-link|" +msgstr "" + +#: ../../source/features/environments.rst:27 +msgid "Move towards a direction with the MuJoCo humanoid robot" +msgstr "" + +#: ../../source/features/environments.rst:30 +msgid "|ant|" +msgstr "" + +#: ../../source/features/environments.rst:40 +msgid "ant" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|ant-link|" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|ant-direct-link|" +msgstr "" + +#: ../../source/features/environments.rst:30 +msgid "Move towards a direction with the MuJoCo ant robot" +msgstr "" + +#: ../../source/features/environments.rst:33 +msgid "|cartpole|" +msgstr "" + +#: ../../source/features/environments.rst:41 +msgid "cartpole" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|cartpole-link|" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|cartpole-direct-link|" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|cartpole-camera-rgb-link|" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|cartpole-camera-dpt-link|" +msgstr "" + +#: ../../source/features/environments.rst:33 +msgid "Move the cart to keep the pole upwards in the classic cartpole control" +msgstr "" + +#: ../../source/features/environments.rst:55 +msgid "Manipulation" +msgstr "" + +#: ../../source/features/environments.rst:57 +msgid "Environments based on fixed-arm manipulation tasks." +msgstr "" + +#: ../../source/features/environments.rst:59 +msgid "For many of these tasks, we include configurations with different arm action spaces. For example, for the reach environment:" +msgstr "" + +#: ../../source/features/environments.rst:62 +msgid "|lift-cube-link|: Franka arm with joint position control" +msgstr "" + +#: ../../source/features/environments.rst:63 +msgid "|lift-cube-ik-abs-link|: Franka arm with absolute IK control" +msgstr "" + +#: ../../source/features/environments.rst:64 +msgid "|lift-cube-ik-rel-link|: Franka arm with relative IK control" +msgstr "" + +#: ../../source/features/environments.rst:72 +msgid "|reach-franka|" +msgstr "" + +#: ../../source/features/environments.rst:87 +msgid "reach-franka" +msgstr "" + +#: ../../source/features/environments.rst:72 +msgid "|reach-franka-link|" +msgstr "" + +#: ../../source/features/environments.rst:72 +msgid "Move the end-effector to a sampled target pose with the Franka robot" +msgstr "" + +#: ../../source/features/environments.rst:74 +msgid "|reach-ur10|" +msgstr "" + +#: ../../source/features/environments.rst:88 +msgid "reach-ur10" +msgstr "" + +#: ../../source/features/environments.rst:74 +msgid "|reach-ur10-link|" +msgstr "" + +#: ../../source/features/environments.rst:74 +msgid "Move the end-effector to a sampled target pose with the UR10 robot" +msgstr "" + +#: ../../source/features/environments.rst:76 +msgid "|lift-cube|" +msgstr "" + +#: ../../source/features/environments.rst:89 +msgid "lift-cube" +msgstr "" + +#: ../../source/features/environments.rst:76 +msgid "|lift-cube-link|" +msgstr "" + +#: ../../source/features/environments.rst:76 +msgid "Pick a cube and bring it to a sampled target position with the Franka robot" +msgstr "" + +#: ../../source/features/environments.rst:78 +msgid "|cabi-franka|" +msgstr "" + +#: ../../source/features/environments.rst:90 +msgid "cabi-franka" +msgstr "" + +#: ../../source/features/environments.rst:78 +msgid "|cabi-franka-link|" +msgstr "" + +#: ../../source/features/environments.rst:78 +msgid "Grasp the handle of a cabinet's drawer and open it with the Franka robot" +msgstr "" + +#: ../../source/features/environments.rst:80 +msgid "|cube-allegro|" +msgstr "" + +#: ../../source/features/environments.rst:91 +msgid "cube-allegro" +msgstr "" + +#: ../../source/features/environments.rst:80 +msgid "|cube-allegro-link|" +msgstr "" + +#: ../../source/features/environments.rst:80 +msgid "In-hand reorientation of a cube using Allegro hand" +msgstr "" + +#: ../../source/features/environments.rst:82 +msgid "|cube-shadow|" +msgstr "" + +#: ../../source/features/environments.rst:92 +msgid "cube-shadow" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|cube-shadow-link|" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|cube-shadow-ff-link|" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|cube-shadow-lstm-link|" +msgstr "" + +#: ../../source/features/environments.rst:82 +msgid "In-hand reorientation of a cube using Shadow hand" +msgstr "" + +#: ../../source/features/environments.rst:107 +msgid "Locomotion" +msgstr "" + +#: ../../source/features/environments.rst:109 +msgid "Environments based on legged locomotion tasks." +msgstr "" + +#: ../../source/features/environments.rst:117 +msgid "|velocity-flat-anymal-b|" +msgstr "" + +#: ../../source/features/environments.rst:184 +msgid "velocity-flat-anymal-b" +msgstr "" + +#: ../../source/features/environments.rst:117 +msgid "|velocity-flat-anymal-b-link|" +msgstr "" + +#: ../../source/features/environments.rst:117 +msgid "Track a velocity command on flat terrain with the Anymal B robot" +msgstr "" + +#: ../../source/features/environments.rst:119 +msgid "|velocity-rough-anymal-b|" +msgstr "" + +#: ../../source/features/environments.rst:185 +msgid "velocity-rough-anymal-b" +msgstr "" + +#: ../../source/features/environments.rst:119 +msgid "|velocity-rough-anymal-b-link|" +msgstr "" + +#: ../../source/features/environments.rst:119 +msgid "Track a velocity command on rough terrain with the Anymal B robot" +msgstr "" + +#: ../../source/features/environments.rst:121 +msgid "|velocity-flat-anymal-c|" +msgstr "" + +#: ../../source/features/environments.rst:186 +msgid "velocity-flat-anymal-c" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|velocity-flat-anymal-c-link|" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|velocity-flat-anymal-c-direct-link|" +msgstr "" + +#: ../../source/features/environments.rst:121 +msgid "Track a velocity command on flat terrain with the Anymal C robot" +msgstr "" + +#: ../../source/features/environments.rst:124 +msgid "|velocity-rough-anymal-c|" +msgstr "" + +#: ../../source/features/environments.rst:187 +msgid "velocity-rough-anymal-c" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|velocity-rough-anymal-c-link|" +msgstr "" + +#: ../../source/features/environments.rst:0 +msgid "|velocity-rough-anymal-c-direct-link|" +msgstr "" + +#: ../../source/features/environments.rst:124 +msgid "Track a velocity command on rough terrain with the Anymal C robot" +msgstr "" + +#: ../../source/features/environments.rst:127 +msgid "|velocity-flat-anymal-d|" +msgstr "" + +#: ../../source/features/environments.rst:188 +msgid "velocity-flat-anymal-d" +msgstr "" + +#: ../../source/features/environments.rst:127 +msgid "|velocity-flat-anymal-d-link|" +msgstr "" + +#: ../../source/features/environments.rst:127 +msgid "Track a velocity command on flat terrain with the Anymal D robot" +msgstr "" + +#: ../../source/features/environments.rst:129 +msgid "|velocity-rough-anymal-d|" +msgstr "" + +#: ../../source/features/environments.rst:189 +msgid "velocity-rough-anymal-d" +msgstr "" + +#: ../../source/features/environments.rst:129 +msgid "|velocity-rough-anymal-d-link|" +msgstr "" + +#: ../../source/features/environments.rst:129 +msgid "Track a velocity command on rough terrain with the Anymal D robot" +msgstr "" + +#: ../../source/features/environments.rst:131 +msgid "|velocity-flat-unitree-a1|" +msgstr "" + +#: ../../source/features/environments.rst:190 +msgid "velocity-flat-unitree-a1" +msgstr "" + +#: ../../source/features/environments.rst:131 +msgid "|velocity-flat-unitree-a1-link|" +msgstr "" + +#: ../../source/features/environments.rst:131 +msgid "Track a velocity command on flat terrain with the Unitree A1 robot" +msgstr "" + +#: ../../source/features/environments.rst:133 +msgid "|velocity-rough-unitree-a1|" +msgstr "" + +#: ../../source/features/environments.rst:191 +msgid "velocity-rough-unitree-a1" +msgstr "" + +#: ../../source/features/environments.rst:133 +msgid "|velocity-rough-unitree-a1-link|" +msgstr "" + +#: ../../source/features/environments.rst:133 +msgid "Track a velocity command on rough terrain with the Unitree A1 robot" +msgstr "" + +#: ../../source/features/environments.rst:135 +msgid "|velocity-flat-unitree-go1|" +msgstr "" + +#: ../../source/features/environments.rst:192 +msgid "velocity-flat-unitree-go1" +msgstr "" + +#: ../../source/features/environments.rst:135 +msgid "|velocity-flat-unitree-go1-link|" +msgstr "" + +#: ../../source/features/environments.rst:135 +msgid "Track a velocity command on flat terrain with the Unitree Go1 robot" +msgstr "" + +#: ../../source/features/environments.rst:137 +msgid "|velocity-rough-unitree-go1|" +msgstr "" + +#: ../../source/features/environments.rst:193 +msgid "velocity-rough-unitree-go1" +msgstr "" + +#: ../../source/features/environments.rst:137 +msgid "|velocity-rough-unitree-go1-link|" +msgstr "" + +#: ../../source/features/environments.rst:137 +msgid "Track a velocity command on rough terrain with the Unitree Go1 robot" +msgstr "" + +#: ../../source/features/environments.rst:139 +msgid "|velocity-flat-unitree-go2|" +msgstr "" + +#: ../../source/features/environments.rst:194 +msgid "velocity-flat-unitree-go2" +msgstr "" + +#: ../../source/features/environments.rst:139 +msgid "|velocity-flat-unitree-go2-link|" +msgstr "" + +#: ../../source/features/environments.rst:139 +msgid "Track a velocity command on flat terrain with the Unitree Go2 robot" +msgstr "" + +#: ../../source/features/environments.rst:141 +msgid "|velocity-rough-unitree-go2|" +msgstr "" + +#: ../../source/features/environments.rst:195 +msgid "velocity-rough-unitree-go2" +msgstr "" + +#: ../../source/features/environments.rst:141 +msgid "|velocity-rough-unitree-go2-link|" +msgstr "" + +#: ../../source/features/environments.rst:141 +msgid "Track a velocity command on rough terrain with the Unitree Go2 robot" +msgstr "" + +#: ../../source/features/environments.rst:143 +msgid "|velocity-flat-spot|" +msgstr "" + +#: ../../source/features/environments.rst:196 +msgid "velocity-flat-spot" +msgstr "" + +#: ../../source/features/environments.rst:143 +msgid "|velocity-flat-spot-link|" +msgstr "" + +#: ../../source/features/environments.rst:143 +msgid "Track a velocity command on flat terrain with the Boston Dynamics Spot robot" +msgstr "" + +#: ../../source/features/environments.rst:145 +msgid "|velocity-flat-h1|" +msgstr "" + +#: ../../source/features/environments.rst:197 +msgid "velocity-flat-h1" +msgstr "" + +#: ../../source/features/environments.rst:145 +msgid "|velocity-flat-h1-link|" +msgstr "" + +#: ../../source/features/environments.rst:145 +msgid "Track a velocity command on flat terrain with the Unitree H1 robot" +msgstr "" + +#: ../../source/features/environments.rst:147 +msgid "|velocity-rough-h1|" +msgstr "" + +#: ../../source/features/environments.rst:198 +msgid "velocity-rough-h1" +msgstr "" + +#: ../../source/features/environments.rst:147 +msgid "|velocity-rough-h1-link|" +msgstr "" + +#: ../../source/features/environments.rst:147 +msgid "Track a velocity command on rough terrain with the Unitree H1 robot" +msgstr "" + +#: ../../source/features/environments.rst:149 +msgid "|velocity-flat-g1|" +msgstr "" + +#: ../../source/features/environments.rst:199 +msgid "velocity-flat-g1" +msgstr "" + +#: ../../source/features/environments.rst:149 +msgid "|velocity-flat-g1-link|" +msgstr "" + +#: ../../source/features/environments.rst:149 +msgid "Track a velocity command on flat terrain with the Unitree G1 robot" +msgstr "" + +#: ../../source/features/environments.rst:151 +msgid "|velocity-rough-g1|" +msgstr "" + +#: ../../source/features/environments.rst:200 +msgid "velocity-rough-g1" +msgstr "" + +#: ../../source/features/environments.rst:151 +msgid "|velocity-rough-g1-link|" +msgstr "" + +#: ../../source/features/environments.rst:151 +msgid "Track a velocity command on rough terrain with the Unitree G1 robot" +msgstr "" + +#: ../../source/features/environments.rst:203 +msgid "Navigation" +msgstr "" + +#: ../../source/features/environments.rst:211 +msgid "|anymal_c_nav|" +msgstr "" + +#: ../../source/features/environments.rst:216 +msgid "anymal_c_nav" +msgstr "" + +#: ../../source/features/environments.rst:211 +msgid "|anymal_c_nav-link|" +msgstr "" + +#: ../../source/features/environments.rst:211 +msgid "Navigate towards a target x-y position and heading with the ANYmal C robot." +msgstr "" + +#: ../../source/features/environments.rst:220 +msgid "Others" +msgstr "" + +#: ../../source/features/environments.rst:228 +msgid "|quadcopter|" +msgstr "" + +#: ../../source/features/environments.rst:234 +msgid "quadcopter" +msgstr "" + +#: ../../source/features/environments.rst:228 +msgid "|quadcopter-link|" +msgstr "" + +#: ../../source/features/environments.rst:228 +msgid "Fly and hover the Crazyflie copter at a goal point by applying thrust." +msgstr "" diff --git a/docs/_build/gettext/source/features/motion_generators.pot b/docs/_build/gettext/source/features/motion_generators.pot new file mode 100644 index 0000000000..80dafc183e --- /dev/null +++ b/docs/_build/gettext/source/features/motion_generators.pot @@ -0,0 +1,267 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/features/motion_generators.rst:2 +msgid "Motion Generators" +msgstr "" + +#: ../../source/features/motion_generators.rst:4 +msgid "Robotic tasks are typically defined in task-space in terms of desired end-effector trajectory, while control actions are executed in the joint-space. This naturally leads to *joint-space* and *task-space* (operational-space) control methods. However, successful execution of interaction tasks using motion control often requires an accurate model of both the robot manipulator as well as its environment. While a sufficiently precise manipulator's model might be known, detailed description of environment is hard to obtain :cite:p:`siciliano2009force`. Planning errors caused by this mismatch can be overcome by introducing a *compliant* behavior during interaction." +msgstr "" + +#: ../../source/features/motion_generators.rst:15 +msgid "While compliance is achievable passively through robot's structure (such as elastic actuators, soft robot arms), we are more interested in controller designs that focus on active interaction control. These are broadly categorized into:" +msgstr "" + +#: ../../source/features/motion_generators.rst:20 +msgid "**impedance control:** indirect control method where motion deviations caused during interaction relates to contact force as a mass-spring-damper system with adjustable parameters (stiffness and damping). A specialized case of this is *stiffness* control where only the static relationship between position error and contact force is considered." +msgstr "" + +#: ../../source/features/motion_generators.rst:26 +msgid "**hybrid force/motion control:** active control method which controls motion and force along unconstrained and constrained task directions respectively. Among the various schemes for hybrid motion control, the provided implementation is based on inverse dynamics control in the operational space :cite:p:`khatib1987osc`." +msgstr "" + +#: ../../source/features/motion_generators.rst:33 +msgid "To provide an even broader set of motion generators, we welcome contributions from the community. If you are interested, please open an issue to start a discussion!" +msgstr "" + +#: ../../source/features/motion_generators.rst:38 +msgid "Joint-space controllers" +msgstr "" + +#: ../../source/features/motion_generators.rst:41 +msgid "Torque control" +msgstr "" + +#: ../../source/features/motion_generators.rst:43 +#: ../../source/features/motion_generators.rst:59 +#: ../../source/features/motion_generators.rst:82 +msgid "Action dimensions: ``\"n\"`` (number of joints)" +msgstr "" + +#: ../../source/features/motion_generators.rst:45 +msgid "In torque control mode, the input actions are directly set as feed-forward joint torque commands, i.e. at every time-step," +msgstr "" + +#: ../../source/features/motion_generators.rst:48 +msgid "\\tau = \\tau_{des}" +msgstr "" + +#: ../../source/features/motion_generators.rst:52 +msgid "Thus, this control mode is achievable by setting the command type for the actuator group, via the :class:`ActuatorControlCfg` class, to ``\"t_abs\"``." +msgstr "" + +#: ../../source/features/motion_generators.rst:57 +msgid "Velocity control" +msgstr "" + +#: ../../source/features/motion_generators.rst:61 +msgid "In velocity control mode, a proportional control law is required to reduce the error between the current and desired joint velocities. Based on input actions, the joint torques commands are computed as:" +msgstr "" + +#: ../../source/features/motion_generators.rst:64 +msgid "\\tau = k_d (\\dot{q}_{des} - \\dot{q})" +msgstr "" + +#: ../../source/features/motion_generators.rst:68 +msgid "where :math:`k_d` are the gains parsed from configuration." +msgstr "" + +#: ../../source/features/motion_generators.rst:70 +msgid "This control mode is achievable by setting the command type for the actuator group, via the :class:`ActuatorControlCfg` class, to ``\"v_abs\"`` or ``\"v_rel\"``." +msgstr "" + +#: ../../source/features/motion_generators.rst:75 +msgid "While performing velocity control, in many cases, gravity compensation is required to ensure better tracking of the command. In this case, we suggest disabling gravity for the links in the articulation in simulation." +msgstr "" + +#: ../../source/features/motion_generators.rst:80 +msgid "Position control with fixed impedance" +msgstr "" + +#: ../../source/features/motion_generators.rst:84 +msgid "In position control mode, a proportional-damping (PD) control law is employed to track the desired joint positions and ensuring the articulation remains still at the desired location (i.e., desired joint velocities are zero). Based on the input actions, the joint torque commands are computed as:" +msgstr "" + +#: ../../source/features/motion_generators.rst:88 +msgid "\\tau = k_p (q_{des} - q) - k_d \\dot{q}" +msgstr "" + +#: ../../source/features/motion_generators.rst:92 +msgid "where :math:`k_p` and :math:`k_d` are the gains parsed from configuration." +msgstr "" + +#: ../../source/features/motion_generators.rst:94 +msgid "In its simplest above form, the control mode is achievable by setting the command type for the actuator group, via the :class:`ActuatorControlCfg` class, to ``\"p_abs\"`` or ``\"p_rel\"``." +msgstr "" + +#: ../../source/features/motion_generators.rst:97 +msgid "However, a more complete formulation which considers the dynamics of the articulation would be:" +msgstr "" + +#: ../../source/features/motion_generators.rst:99 +msgid "\\tau = M \\left( k_p (q_{des} - q) - k_d \\dot{q} \\right) + g" +msgstr "" + +#: ../../source/features/motion_generators.rst:103 +msgid "where :math:`M` is the joint-space inertia matrix of size :math:`n \\times n`, and :math:`g` is the joint-space gravity vector. This implementation is available through the :class:`JointImpedanceController` class by setting the impedance mode to ``\"fixed\"``. The gains :math:`k_p` are parsed from the input configuration and :math:`k_d` are computed while considering the system as a decoupled point-mass oscillator, i.e.," +msgstr "" + +#: ../../source/features/motion_generators.rst:108 +msgid "k_d = 2 \\sqrt{k_p} \\times D" +msgstr "" + +#: ../../source/features/motion_generators.rst:112 +msgid "where :math:`D` is the damping ratio of the system. Critical damping is achieved for :math:`D = 1`, overcritical damping for :math:`D > 1` and undercritical damping for :math:`D < 1`." +msgstr "" + +#: ../../source/features/motion_generators.rst:115 +msgid "Additionally, it is possible to disable the inertial or gravity compensation in the controller by setting the flags :attr:`inertial_compensation` and :attr:`gravity_compensation` in the configuration to :obj:`False`, respectively." +msgstr "" + +#: ../../source/features/motion_generators.rst:120 +msgid "Position control with variable stiffness" +msgstr "" + +#: ../../source/features/motion_generators.rst:122 +msgid "Action dimensions: ``\"2n\"`` (number of joints)" +msgstr "" + +#: ../../source/features/motion_generators.rst:124 +msgid "In stiffness control, the same formulation as above is employed, however, the gains :math:`k_p` are part of the input commands. This implementation is available through the :class:`JointImpedanceController` class by setting the impedance mode to ``\"variable_kp\"``." +msgstr "" + +#: ../../source/features/motion_generators.rst:129 +msgid "Position control with variable impedance" +msgstr "" + +#: ../../source/features/motion_generators.rst:131 +msgid "Action dimensions: ``\"3n\"`` (number of joints)" +msgstr "" + +#: ../../source/features/motion_generators.rst:133 +msgid "In impedance control, the same formulation as above is employed, however, both :math:`k_p` and :math:`k_d` are part of the input commands. This implementation is available through the :class:`JointImpedanceController` class by setting the impedance mode to ``\"variable\"``." +msgstr "" + +#: ../../source/features/motion_generators.rst:138 +msgid "Task-space controllers" +msgstr "" + +#: ../../source/features/motion_generators.rst:141 +msgid "Differential inverse kinematics (IK)" +msgstr "" + +#: ../../source/features/motion_generators.rst:143 +msgid "Action dimensions: ``\"3\"`` (relative/absolute position), ``\"6\"`` (relative pose), or ``\"7\"`` (absolute pose)" +msgstr "" + +#: ../../source/features/motion_generators.rst:145 +msgid "Inverse kinematics converts the task-space tracking error to joint-space error. In its most typical implementation, the pose error in the task-sace, :math:`\\Delta \\chi_e = (\\Delta p_e, \\Delta \\phi_e)`, is computed as the cartesian distance between the desired and current task-space positions, and the shortest distance in :math:`\\mathbb{SO}(3)` between the desired and current task-space orientations." +msgstr "" + +#: ../../source/features/motion_generators.rst:150 +msgid "Using the geometric Jacobian :math:`J_{eO} \\in \\mathbb{R}^{6 \\times n}`, that relates task-space velocity to joint-space velocities, we design the control law to obtain the desired joint positions as:" +msgstr "" + +#: ../../source/features/motion_generators.rst:153 +msgid "q_{des} = q + \\eta J_{eO}^{-} \\Delta \\chi_e" +msgstr "" + +#: ../../source/features/motion_generators.rst:157 +msgid "where :math:`\\eta` is a scaling parameter and :math:`J_{eO}^{-}` is the pseudo-inverse of the Jacobian." +msgstr "" + +#: ../../source/features/motion_generators.rst:159 +msgid "It is possible to compute the pseudo-inverse of the Jacobian using different formulations:" +msgstr "" + +#: ../../source/features/motion_generators.rst:161 +msgid "Moore-Penrose pseduo-inverse: :math:`A^{-} = A^T(AA^T)^{-1}`." +msgstr "" + +#: ../../source/features/motion_generators.rst:162 +msgid "Levenberg-Marquardt pseduo-inverse (damped least-squares): :math:`A^{-} = A^T (AA^T + \\lambda \\mathbb{I})^{-1}`." +msgstr "" + +#: ../../source/features/motion_generators.rst:163 +msgid "Tanspose pseudo-inverse: :math:`A^{-} = A^T`." +msgstr "" + +#: ../../source/features/motion_generators.rst:164 +msgid "Adaptive singular-vale decomposition (SVD) pseduo-inverse from :cite:t:`buss2004ik`." +msgstr "" + +#: ../../source/features/motion_generators.rst:166 +msgid "These implementations are available through the :class:`DifferentialInverseKinematics` class." +msgstr "" + +#: ../../source/features/motion_generators.rst:169 +msgid "Impedance controller" +msgstr "" + +#: ../../source/features/motion_generators.rst:172 +msgid "It uses task-space pose error and Jacobian to compute join torques through mass-spring-damper system with a) fixed stiffness, b) variable stiffness (stiffness control), and c) variable stiffness and damping (impedance control)." +msgstr "" + +#: ../../source/features/motion_generators.rst:177 +msgid "Operational-space controller" +msgstr "" + +#: ../../source/features/motion_generators.rst:179 +msgid "Similar to task-space impedance control but uses the Equation of Motion (EoM) for computing the task-space force" +msgstr "" + +#: ../../source/features/motion_generators.rst:184 +msgid "Closed-loop proportional force controller" +msgstr "" + +#: ../../source/features/motion_generators.rst:186 +msgid "It uses a proportional term to track the desired wrench command with respect to current wrench at the end-effector." +msgstr "" + +#: ../../source/features/motion_generators.rst:191 +msgid "Hybrid force-motion controller" +msgstr "" + +#: ../../source/features/motion_generators.rst:193 +msgid "It combines closed-loop force control and operational-space motion control to compute the desired wrench at the end-effector. It uses selection matrices that define the unconstrainted and constrained task directions." +msgstr "" + +#: ../../source/features/motion_generators.rst:200 +msgid "Reactive planners" +msgstr "" + +#: ../../source/features/motion_generators.rst:202 +msgid "Typical task-space controllers do not account for motion constraints such as joint limits, self-collision and environment collision. Instead they rely on high-level planners (such as RRT) to handle these non-Euclidean constraints and give joint/task-space way-points to the controller. However, these methods are often conservative and have undesirable deceleration when close to an object. More recently, different approaches combine the constraints directly into an optimization problem, thereby providing a holistic solution for motion generation and control." +msgstr "" + +#: ../../source/features/motion_generators.rst:212 +msgid "We currently support the following planners:" +msgstr "" + +#: ../../source/features/motion_generators.rst:214 +msgid "**RMPFlow (lula):** An acceleration-based policy that composes various Reimannian Motion Policies (RMPs) to solve a hierarchy of tasks :cite:p:`cheng2021rmpflow`. It is capable of performing dynamic collision avoidance while navigating the end-effector to a target." +msgstr "" + +#: ../../source/features/motion_generators.rst:218 +msgid "**MPC (OCS2):** A receding horizon control policy based on sequential linear-quadratic (SLQ) programming. It formulates various constraints into a single optimization problem via soft-penalties and uses automatic differentiation to compute derivatives of the system dynamics, constraints and costs. Currently, we support the MPC formulation for end-effector trajectory tracking in fixed-arm and mobile manipulators. The formulation considers a kinematic system model with joint limits and self-collision avoidance :cite:p:`mittal2021articulated`." +msgstr "" + +#: ../../source/features/motion_generators.rst:227 +msgid "We wrap around the python bindings for these reactive planners to perform a batched computing of robot actions. However, their current implementations are CPU-based which may cause certain slowdown for learning." +msgstr "" diff --git a/docs/_build/gettext/source/features/multi_gpu.pot b/docs/_build/gettext/source/features/multi_gpu.pot new file mode 100644 index 0000000000..d3eb3b983f --- /dev/null +++ b/docs/_build/gettext/source/features/multi_gpu.pot @@ -0,0 +1,85 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/features/multi_gpu.rst:2 +msgid "Multi-GPU and Multi-Node Training" +msgstr "" + +#: ../../source/features/multi_gpu.rst:6 +msgid "Isaac Lab supports multi-GPU and multi-node reinforcement learning. Currently, this feature is only available for RL-Games and skrl libraries workflows. We are working on extending this feature to other workflows." +msgstr "" + +#: ../../source/features/multi_gpu.rst:12 +msgid "Multi-GPU and multi-node training is only supported on Linux. Windows support is not available at this time. This is due to limitations of the NCCL library on Windows." +msgstr "" + +#: ../../source/features/multi_gpu.rst:17 +msgid "Multi-GPU Training" +msgstr "" + +#: ../../source/features/multi_gpu.rst:19 +msgid "For complex reinforcement learning environments, it may be desirable to scale up training across multiple GPUs. This is possible in Isaac Lab through the use of the `PyTorch distributed `_ framework." +msgstr "" + +#: ../../source/features/multi_gpu.rst:23 +msgid "The :meth:`torch.distributed` API is used to launch multiple processes of training, where the number of processes must be equal to or less than the number of GPUs available. Each process runs on a dedicated GPU and launches its own instance of Isaac Sim and the Isaac Lab environment. Each process collects its own rollouts during the training process and has its own copy of the policy network. During training, gradients are aggregated across the processes and broadcasted back to the process at the end of the epoch." +msgstr "" + +#: ../../source/features/multi_gpu.rst:-1 +msgid "Multi-GPU training paradigm" +msgstr "" + +#: ../../source/features/multi_gpu.rst:42 +msgid "To train with multiple GPUs, use the following command, where ``--proc_per_node`` represents the number of available GPUs:" +msgstr "" + +#: ../../source/features/multi_gpu.rst:0 +msgid "rl_games" +msgstr "" + +#: ../../source/features/multi_gpu.rst:0 +msgid "skrl" +msgstr "" + +#: ../../source/features/multi_gpu.rst:63 +msgid "Multi-Node Training" +msgstr "" + +#: ../../source/features/multi_gpu.rst:65 +msgid "To scale up training beyond multiple GPUs on a single machine, it is also possible to train across multiple nodes. To train across multiple nodes/machines, it is required to launch an individual process on each node." +msgstr "" + +#: ../../source/features/multi_gpu.rst:68 +msgid "For the master node, use the following command, where ``--proc_per_node`` represents the number of available GPUs, and ``--nnodes`` represents the number of nodes:" +msgstr "" + +#: ../../source/features/multi_gpu.rst:88 +msgid "Note that the port (``5555``) can be replaced with any other available port." +msgstr "" + +#: ../../source/features/multi_gpu.rst:90 +msgid "For non-master nodes, use the following command, replacing ``--node_rank`` with the index of each machine:" +msgstr "" + +#: ../../source/features/multi_gpu.rst:109 +msgid "For more details on multi-node training with PyTorch, please visit the `PyTorch documentation `_." +msgstr "" + +#: ../../source/features/multi_gpu.rst:114 +msgid "As mentioned in the PyTorch documentation, \"multi-node training is bottlenecked by inter-node communication latencies\". When this latency is high, it is possible multi-node training will perform worse than running on a single node instance." +msgstr "" diff --git a/docs/_build/gettext/source/features/task_workflows.pot b/docs/_build/gettext/source/features/task_workflows.pot new file mode 100644 index 0000000000..9bc2dd381b --- /dev/null +++ b/docs/_build/gettext/source/features/task_workflows.pot @@ -0,0 +1,113 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/features/task_workflows.rst:5 +msgid "Task Design Workflows" +msgstr "" + +#: ../../source/features/task_workflows.rst:9 +msgid "Environments define the interface between the agent and the simulation. In the simplest case, the environment provides the agent with the current observations and executes the actions provided by the agent. In a Markov Decision Process (MDP) formulation, the environment can also provide additional information such as the current reward, done flag, and information about the current episode." +msgstr "" + +#: ../../source/features/task_workflows.rst:14 +msgid "While the environment interface is simple to understand, its implementation can vary significantly depending on the complexity of the task. In the context of reinforcement learning (RL), the environment implementation can be broken down into several components, such as the reward function, observation function, termination function, and reset function. Each of these components can be implemented in different ways depending on the complexity of the task and the desired level of modularity." +msgstr "" + +#: ../../source/features/task_workflows.rst:20 +msgid "We provide two different workflows for designing environments with the framework:" +msgstr "" + +#: ../../source/features/task_workflows.rst:22 +msgid "**Manager-based**: The environment is decomposed into individual components (or managers) that handle different aspects of the environment (such as computing observations, applying actions, and applying randomization). The user defines configuration classes for each component and the environment is responsible for coordinating the managers and calling their functions." +msgstr "" + +#: ../../source/features/task_workflows.rst:26 +msgid "**Direct**: The user defines a single class that implements the entire environment directly without the need for separate managers. This class is responsible for computing observations, applying actions, and computing rewards." +msgstr "" + +#: ../../source/features/task_workflows.rst:29 +msgid "Both workflows have their own advantages and disadvantages. The manager-based workflow is more modular and allows different components of the environment to be swapped out easily. This is useful when prototyping the environment and experimenting with different configurations. On the other hand, the direct workflow is more efficient and allows for more fine-grained control over the environment logic. This is useful when optimizing the environment for performance or when implementing complex logic that is difficult to decompose into separate components." +msgstr "" + +#: ../../source/features/task_workflows.rst:37 +msgid "Manager-Based Environments" +msgstr "" + +#: ../../source/features/task_workflows.rst:39 +msgid "A majority of environment implementations follow a similar structure. The environment processes the input actions, steps through the simulation, computes observations and reward signals, applies randomization, and resets the terminated environments. Motivated by this, the environment can be decomposed into individual components that handle each of these tasks. For example, the observation manager is responsible for computing the observations, the reward manager is responsible for computing the rewards, and the termination manager is responsible for computing the termination signal. This approach is known as the manager-based environment design in the framework." +msgstr "" + +#: ../../source/features/task_workflows.rst:46 +msgid "Manager-based environments promote modular implementations of tasks by decomposing the task into individual components that are managed by separate classes. Each component of the task, such as rewards, observations, termination can all be specified as individual configuration classes that are then passed to the corresponding manager classes. The manager is then responsible for parsing the configurations and processing the contents specified in its configuration." +msgstr "" + +#: ../../source/features/task_workflows.rst:52 +msgid "The coordination between the different managers is orchestrated by the class :class:`envs.ManagerBasedRLEnv`. It takes in a task configuration class instance (:class:`envs.ManagerBasedRLEnvCfg`) that contains the configurations for each of the components of the task. Based on the configurations, the scene is set up and the task is initialized. Afterwards, while stepping through the environment, all the managers are called sequentially to perform the necessary operations." +msgstr "" + +#: ../../source/features/task_workflows.rst:58 +msgid "For their own tasks, we expect the user to mainly define the task configuration class and use the existing :class:`envs.ManagerBasedRLEnv` class for the task implementation. The task configuration class should inherit from the base class :class:`envs.ManagerBasedRLEnvCfg` and contain variables assigned to various configuration classes for each component (such as the ``ObservationCfg`` and ``RewardCfg``)." +msgstr "" + +#: ../../source/features/task_workflows.rst:0 +msgid "Example for defining the reward function for the Cartpole task using the manager-style" +msgstr "" + +#: ../../source/features/task_workflows.rst:66 +msgid "The following class is a part of the Cartpole environment configuration class. The :class:`RewardsCfg` class defines individual terms that compose the reward function. Each reward term is defined by its function implementation, weight and additional parameters to be passed to the function. Users can define multiple reward terms and their weights to be used in the reward function." +msgstr "" + +#: ../../source/features/task_workflows.rst:76 +msgid "Through this approach, it is possible to easily vary the implementations of the task by switching some components while leaving the remaining of the code intact. This flexibility is desirable when prototyping the environment and experimenting with different configurations. It also allows for easy collaborating with others on implementing an environment, since contributors may choose to use different combinations of configurations for their own task specifications." +msgstr "" + +#: ../../source/features/task_workflows.rst:84 +msgid "We provide a more detailed tutorial for setting up an environment using the manager-based workflow at :ref:`tutorial-create-manager-rl-env`." +msgstr "" + +#: ../../source/features/task_workflows.rst:89 +msgid "Direct Environments" +msgstr "" + +#: ../../source/features/task_workflows.rst:91 +msgid "The direct-style environment aligns more closely with traditional implementations of environments, where a single script directly implements the reward function, observation function, resets, and all the other components of the environment. This approach does not require the manager classes. Instead, users are provided the complete freedom to implement their task through the APIs from the base class :class:`envs.DirectRLEnv`. For users migrating from the `IsaacGymEnvs`_ and `OmniIsaacGymEnvs`_ framework, this workflow may be more familiar." +msgstr "" + +#: ../../source/features/task_workflows.rst:97 +msgid "When defining an environment with the direct-style implementation, we expect the user define a single class that implements the entire environment. The task class should inherit from the base :class:`envs.DirectRLEnv` class and should have its corresponding configuration class that inherits from :class:`envs.DirectRLEnvCfg`. The task class is responsible for setting up the scene, processing the actions, computing the rewards, observations, resets, and termination signals." +msgstr "" + +#: ../../source/features/task_workflows.rst:0 +msgid "Example for defining the reward function for the Cartpole task using the direct-style" +msgstr "" + +#: ../../source/features/task_workflows.rst:105 +msgid "The following function is a part of the Cartpole environment class and is responsible for computing the rewards." +msgstr "" + +#: ../../source/features/task_workflows.rst:112 +msgid "It calls the :meth:`compute_rewards` function which is Torch JIT compiled for performance benefits." +msgstr "" + +#: ../../source/features/task_workflows.rst:118 +msgid "This approach provides more transparency in the implementations of the environments, as logic is defined within the task class instead of abstracted with the use of managers. This may be beneficial when implementing complex logic that is difficult to decompose into separate components. Additionally, the direct-style implementation may bring more performance benefits for the environment, as it allows implementing large chunks of logic with optimized frameworks such as `PyTorch JIT`_ or `Warp`_. This may be valuable when scaling up training tremendously which requires optimizing individual operations in the environment." +msgstr "" + +#: ../../source/features/task_workflows.rst:127 +msgid "We provide a more detailed tutorial for setting up a RL environment using the direct workflow at :ref:`tutorial-create-direct-rl-env`." +msgstr "" diff --git a/docs/_build/gettext/source/features/tiled_rendering.pot b/docs/_build/gettext/source/features/tiled_rendering.pot new file mode 100644 index 0000000000..8d0e64f390 --- /dev/null +++ b/docs/_build/gettext/source/features/tiled_rendering.pot @@ -0,0 +1,89 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/features/tiled_rendering.rst:2 +msgid "Tiled Rendering and Recording" +msgstr "" + +#: ../../source/features/tiled_rendering.rst:8 +msgid "Tiled Rendering" +msgstr "" + +#: ../../source/features/tiled_rendering.rst:12 +msgid "This feature is only available from Isaac Sim version 4.0.0." +msgstr "" + +#: ../../source/features/tiled_rendering.rst:14 +msgid "Tiled rendering requires heavy memory resources. We recommend running at most 256 cameras in the scene." +msgstr "" + +#: ../../source/features/tiled_rendering.rst:16 +msgid "Tiled rendering APIs provide a vectorized interface for collecting data from camera sensors. This is useful for reinforcement learning environments requiring vision in the loop. Tiled rendering works by concatenating camera outputs from multiple cameras and rendering one single large image instead of multiple smaller images that would have been produced by each individual camera. This reduces the amount of time required for rendering and provides a more efficient API for working with vision data." +msgstr "" + +#: ../../source/features/tiled_rendering.rst:23 +msgid "Isaac Lab provides tiled rendering APIs for RGB and depth data through the :class:`~sensors.TiledCamera` class. Configurations for the tiled rendering APIs can be defined through the :class:`~sensors.TiledCameraCfg` class, specifying parameters such as the regex expression for all camera paths, the transform for the cameras, the desired data type, the type of cameras to add to the scene, and the camera resolution." +msgstr "" + +#: ../../source/features/tiled_rendering.rst:42 +msgid "To access the tiled rendering interface, a :class:`~sensors.TiledCamera` object can be created and used to retrieve data from the cameras." +msgstr "" + +#: ../../source/features/tiled_rendering.rst:51 +msgid "The returned data will be transformed into the shape (num_cameras, height, width, num_channels), which can be used directly as observation for reinforcement learning." +msgstr "" + +#: ../../source/features/tiled_rendering.rst:54 +msgid "When working with rendering, make sure to add the ``--enable_cameras`` argument when launching the environment. For example:" +msgstr "" + +#: ../../source/features/tiled_rendering.rst:63 +msgid "Recording during training" +msgstr "" + +#: ../../source/features/tiled_rendering.rst:65 +msgid "Isaac Lab supports recording video clips during training using the `gymnasium.wrappers.RecordVideo `_ class." +msgstr "" + +#: ../../source/features/tiled_rendering.rst:67 +msgid "This feature can be enabled by using the following command line arguments with the training script:" +msgstr "" + +#: ../../source/features/tiled_rendering.rst:69 +msgid "``--video`` - enables video recording during training" +msgstr "" + +#: ../../source/features/tiled_rendering.rst:70 +msgid "``--video_length`` - length of each recorded video (in steps)" +msgstr "" + +#: ../../source/features/tiled_rendering.rst:71 +msgid "``--video_interval`` - interval between each video recording (in steps)" +msgstr "" + +#: ../../source/features/tiled_rendering.rst:73 +msgid "Make sure to also add the ``--enable_cameras`` argument when running headless. Note that enabling recording is equivalent to enabling rendering during training, which will slow down both startup and runtime performance." +msgstr "" + +#: ../../source/features/tiled_rendering.rst:76 +msgid "Example usage:" +msgstr "" + +#: ../../source/features/tiled_rendering.rst:82 +msgid "Recorded videos will be saved in the same directory as the training checkpoints, under ``IsaacLab/logs////videos``." +msgstr "" diff --git a/docs/_build/gettext/source/how-to/add_own_library.pot b/docs/_build/gettext/source/how-to/add_own_library.pot new file mode 100644 index 0000000000..63e26ef4d9 --- /dev/null +++ b/docs/_build/gettext/source/how-to/add_own_library.pot @@ -0,0 +1,97 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/how-to/add_own_library.rst:2 +msgid "Adding your own learning library" +msgstr "" + +#: ../../source/how-to/add_own_library.rst:4 +msgid "Isaac Lab comes pre-integrated with a number of libraries (such as RSL-RL, RL-Games, SKRL, Stable Baselines, etc.). However, you may want to integrate your own library with Isaac Lab or use a different version of the libraries than the one installed by Isaac Lab. This is possible as long as the library is available as Python package that supports the Python version used by the underlying simulator. For instance, if you are using Isaac Sim 2023.1.1, you need to ensure that the library is available for Python 3.10." +msgstr "" + +#: ../../source/how-to/add_own_library.rst:11 +msgid "Using a different version of a library" +msgstr "" + +#: ../../source/how-to/add_own_library.rst:13 +msgid "If you want to use a different version of a library than the one installed by Isaac Lab, you can install the library by building it from source or using a different version of the library available on PyPI." +msgstr "" + +#: ../../source/how-to/add_own_library.rst:16 +msgid "For instance, if you want to use your own modified version of the `rsl-rl`_ library, you can follow these steps:" +msgstr "" + +#: ../../source/how-to/add_own_library.rst:18 +msgid "Follow the instructions for installing Isaac Lab. This will install the default version of the ``rsl-rl`` library." +msgstr "" + +#: ../../source/how-to/add_own_library.rst:19 +msgid "Clone the ``rsl-rl`` library from the GitHub repository:" +msgstr "" + +#: ../../source/how-to/add_own_library.rst:26 +msgid "Install the library in your Python environment:" +msgstr "" + +#: ../../source/how-to/add_own_library.rst:36 +msgid "In this case, the ``rsl-rl`` library will be installed in the Python environment used by Isaac Lab. You can now use the ``rsl-rl`` library in your experiments. To check the library version and other details, you can use the following command:" +msgstr "" + +#: ../../source/how-to/add_own_library.rst:44 +msgid "This should now show the location of the ``rsl-rl`` library as the directory where you cloned the library. For instance, if you cloned the library to ``/home/user/git/rsl_rl``, the output of the above command should be:" +msgstr "" + +#: ../../source/how-to/add_own_library.rst:62 +msgid "Integrating a new library" +msgstr "" + +#: ../../source/how-to/add_own_library.rst:64 +msgid "Adding a new library to Isaac Lab is similar to using a different version of a library. You can install the library in your Python environment and use it in your experiments. However, if you want to integrate the library with Isaac Lab, you can will first need to make a wrapper for the library, as explained in :ref:`how-to-env-wrappers`." +msgstr "" + +#: ../../source/how-to/add_own_library.rst:69 +msgid "The following steps can be followed to integrate a new library with Isaac Lab:" +msgstr "" + +#: ../../source/how-to/add_own_library.rst:71 +msgid "Add your library as an extra-dependency in the ``setup.py`` for the extension ``omni.isaac.lab_tasks``. This will ensure that the library is installed when you install Isaac Lab or it will complain if the library is not installed or available." +msgstr "" + +#: ../../source/how-to/add_own_library.rst:74 +msgid "Install your library in the Python environment used by Isaac Lab. You can do this by following the steps mentioned in the previous section." +msgstr "" + +#: ../../source/how-to/add_own_library.rst:76 +msgid "Create a wrapper for the library. You can check the module :mod:`omni.isaac.lab_tasks.utils.wrappers` for examples of wrappers for different libraries. You can create a new wrapper for your library and add it to the module. You can also create a new module for the wrapper if you prefer." +msgstr "" + +#: ../../source/how-to/add_own_library.rst:79 +msgid "Create workflow scripts for your library to train and evaluate agents. You can check the existing workflow scripts in the ``source/standalone/workflows`` directory for examples. You can create new workflow scripts for your library and add them to the directory." +msgstr "" + +#: ../../source/how-to/add_own_library.rst:83 +msgid "Optionally, you can also add some tests and documentation for the wrapper. This will help ensure that the wrapper works as expected and can guide users on how to use the wrapper." +msgstr "" + +#: ../../source/how-to/add_own_library.rst:86 +msgid "Add some tests to ensure that the wrapper works as expected and remains compatible with the library. These tests can be added to the ``source/extensions/omni.isaac.lab_tasks/test/wrappers`` directory." +msgstr "" + +#: ../../source/how-to/add_own_library.rst:88 +msgid "Add some documentation for the wrapper. You can add the API documentation to the ``docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst`` file." +msgstr "" diff --git a/docs/_build/gettext/source/how-to/draw_markers.pot b/docs/_build/gettext/source/how-to/draw_markers.pot new file mode 100644 index 0000000000..b297f9fc5c --- /dev/null +++ b/docs/_build/gettext/source/how-to/draw_markers.pot @@ -0,0 +1,85 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/how-to/draw_markers.rst:2 +msgid "Creating Visualization Markers" +msgstr "" + +#: ../../source/how-to/draw_markers.rst:6 +msgid "Visualization markers are useful to debug the state of the environment. They can be used to visualize the frames, commands, and other information in the simulation." +msgstr "" + +#: ../../source/how-to/draw_markers.rst:9 +msgid "While Isaac Sim provides its own :mod:`omni.isaac.debug_draw` extension, it is limited to rendering only points, lines and splines. For cases, where you need to render more complex shapes, you can use the :class:`markers.VisualizationMarkers` class." +msgstr "" + +#: ../../source/how-to/draw_markers.rst:13 +msgid "This guide is accompanied by a sample script ``markers.py`` in the ``IsaacLab/source/standalone/demos`` directory." +msgstr "" + +#: ../../source/how-to/draw_markers.rst:0 +msgid "Code for markers.py" +msgstr "" + +#: ../../source/how-to/draw_markers.rst:26 +msgid "Configuring the markers" +msgstr "" + +#: ../../source/how-to/draw_markers.rst:28 +msgid "The :class:`~markers.VisualizationMarkersCfg` class provides a simple interface to configure different types of markers. It takes in the following parameters:" +msgstr "" + +#: ../../source/how-to/draw_markers.rst:31 +msgid ":attr:`~markers.VisualizationMarkersCfg.prim_path`: The corresponding prim path for the marker class." +msgstr "" + +#: ../../source/how-to/draw_markers.rst:32 +msgid ":attr:`~markers.VisualizationMarkersCfg.markers`: A dictionary specifying the different marker prototypes handled by the class. The key is the name of the marker prototype and the value is its spawn configuration." +msgstr "" + +#: ../../source/how-to/draw_markers.rst:37 +msgid "In case the marker prototype specifies a configuration with physics properties, these are removed. This is because the markers are not meant to be simulated." +msgstr "" + +#: ../../source/how-to/draw_markers.rst:40 +msgid "Here we show all the different types of markers that can be configured. These range from simple shapes like cones and spheres to more complex geometries like a frame or arrows. The marker prototypes can also be configured from USD files." +msgstr "" + +#: ../../source/how-to/draw_markers.rst:51 +msgid "Drawing the markers" +msgstr "" + +#: ../../source/how-to/draw_markers.rst:53 +msgid "To draw the markers, we call the :class:`~markers.VisualizationMarkers.visualize` method. This method takes in as arguments the pose of the markers and the corresponding marker prototypes to draw." +msgstr "" + +#: ../../source/how-to/draw_markers.rst:63 +msgid "Executing the Script" +msgstr "" + +#: ../../source/how-to/draw_markers.rst:65 +msgid "To run the accompanying script, execute the following command:" +msgstr "" + +#: ../../source/how-to/draw_markers.rst:71 +msgid "The simulation should start, and you can observe the different types of markers arranged in a grid pattern. The markers will rotating around their respective axes. Additionally every few rotations, they will roll forward on the grid." +msgstr "" + +#: ../../source/how-to/draw_markers.rst:75 +msgid "To stop the simulation, close the window, or use ``Ctrl+C`` in the terminal." +msgstr "" diff --git a/docs/_build/gettext/source/how-to/import_new_asset.pot b/docs/_build/gettext/source/how-to/import_new_asset.pot new file mode 100644 index 0000000000..2000557911 --- /dev/null +++ b/docs/_build/gettext/source/how-to/import_new_asset.pot @@ -0,0 +1,174 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/how-to/import_new_asset.rst:2 +msgid "Importing a New Asset" +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:6 +msgid "NVIDIA Omniverse relies on the Universal Scene Description (USD) file format to import and export assets. USD is an open source file format developed by Pixar Animation Studios. It is a scene description format optimized for large-scale, complex data sets. While this format is widely used in the film and animation industry, it is less common in the robotics community." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:12 +msgid "To this end, NVIDIA has developed various importers that allow you to import assets from other file formats into USD. These importers are available as extensions to Omniverse Kit:" +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:16 +msgid "**URDF Importer** - Import assets from URDF files." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:17 +msgid "**MJCF Importer** - Import assets from MJCF files." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:18 +msgid "**Asset Importer** - Import assets from various file formats, including OBJ, FBX, STL, and glTF." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:21 +msgid "The recommended workflow from NVIDIA is to use the above importers to convert the asset into its USD representation. Once the asset is in USD format, you can use the Omniverse Kit to edit the asset and export it to other file formats." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:25 +msgid "An important note to use assets for large-scale simulation is to ensure that they are in `instanceable`_ format. This allows the asset to be efficiently loaded into memory and used multiple times in a scene. Otherwise, the asset will be loaded into memory multiple times, which can cause performance issues. For more details on instanceable assets, please check the Isaac Sim `documentation`_." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:33 +msgid "Using URDF Importer" +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:35 +msgid "Isaac Sim includes the URDF and MJCF importers by default. These importers support the option to import assets as instanceable assets. By selecting this option, the importer will create two USD files: one for all the mesh data and one for all the non-mesh data (e.g. joints, rigid bodies, etc.). The prims in the mesh data file are referenced in the non-mesh data file. This allows the mesh data (which is often bulky) to be loaded into memory only once and used multiple times in a scene." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:42 +msgid "For using these importers from the GUI, please check the documentation for `MJCF importer`_ and `URDF importer`_ respectively." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:45 +msgid "For using the URDF importers from Python scripts, we include a utility tool called ``convert_urdf.py``. Internally, this script creates an instance of :class:`~sim.converters.UrdfConverterCfg` which is then passed to the :class:`~sim.converters.UrdfConverter` class. The configuration class specifies the default values for the importer. The important settings are:" +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:50 +msgid ":attr:`~sim.converters.UrdfConverterCfg.fix_base` - Whether to fix the base of the robot. This depends on whether you have a floating-base or fixed-base robot." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:52 +msgid ":attr:`~sim.converters.UrdfConverterCfg.make_instanceable` - Whether to create instanceable assets. Usually, this should be set to ``True``." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:54 +msgid ":attr:`~sim.converters.UrdfConverterCfg.merge_fixed_joints` - Whether to merge the fixed joints. Usually, this should be set to ``True`` to reduce the asset complexity." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:56 +msgid ":attr:`~sim.converters.UrdfConverterCfg.default_drive_type` - The drive-type for the joints. We recommend this to always be ``\"none\"``. This allows changing the drive configuration using the actuator models." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:59 +msgid ":attr:`~sim.converters.UrdfConverterCfg.default_drive_stiffness` - The drive stiffness for the joints. We recommend this to always be ``0.0``. This allows changing the drive configuration using the actuator models." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:62 +msgid ":attr:`~sim.converters.UrdfConverterCfg.default_drive_damping` - The drive damping for the joints. Similar to the stiffness, we recommend this to always be ``0.0``." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:66 +#: ../../source/how-to/import_new_asset.rst:138 +msgid "Example Usage" +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:68 +msgid "In this example, we use the pre-processed URDF file of the ANYmal-D robot. To check the pre-process URDF, please check the file the `anymal.urdf`_. The main difference between the pre-processed URDF and the original URDF are:" +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:72 +msgid "We removed the ```` tag from the URDF. This tag is not supported by the URDF importer." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:73 +msgid "We removed the ```` tag from the URDF. This tag is not supported by the URDF importer." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:74 +msgid "We removed various collision bodies from the URDF to reduce the complexity of the asset." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:75 +msgid "We changed all the joint's damping and friction parameters to ``0.0``. This ensures that we can perform effort-control on the joints without PhysX adding additional damping." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:77 +msgid "We added the ```` tag to fixed joints. This ensures that the importer does not merge these fixed joints." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:80 +msgid "The following shows the steps to clone the repository and run the converter:" +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:99 +msgid "Executing the above script will create two USD files inside the ``source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/`` directory:" +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:102 +msgid "``anymal_d.usd`` - This is the main asset file. It contains all the non-mesh data." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:103 +msgid "``Props/instanceable_assets.usd`` - This is the mesh data file." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:107 +msgid "Since Isaac Sim 2023.1.1, the URDF importer behavior has changed and it stores the mesh data inside the main asset file even if the ``--make-instanceable`` flag is set. This means that the ``Props/instanceable_assets.usd`` file is created but not used anymore." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:111 +msgid "You can press play on the opened window to see the asset in the scene. The asset should \"collapse\" if everything is working correctly. If it blows up, then it might be that you have self-collisions present in the URDF." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:115 +msgid "To run the script headless, you can add the ``--headless`` flag. This will not open the GUI and exit the script after the conversion is complete." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:120 +msgid "Using Mesh Importer" +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:122 +msgid "Omniverse Kit includes the mesh converter tool that uses the ASSIMP library to import assets from various mesh formats (e.g. OBJ, FBX, STL, glTF, etc.). The asset converter tool is available as an extension to Omniverse Kit. Please check the `asset converter`_ documentation for more details. However, unlike Isaac Sim's URDF and MJCF importers, the asset converter tool does not support creating instanceable assets. This means that the asset will be loaded into memory multiple times if it is used multiple times in a scene." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:129 +msgid "Thus, we include a utility tool called ``convert_mesh.py`` that uses the asset converter tool to import the asset and then converts it into an instanceable asset. Internally, this script creates an instance of :class:`~sim.converters.MeshConverterCfg` which is then passed to the :class:`~sim.converters.MeshConverter` class. Since the mesh file does not contain any physics information, the configuration class accepts different physics properties (such as mass, collision shape, etc.) as input. Please check the documentation for :class:`~sim.converters.MeshConverterCfg` for more details." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:140 +msgid "We use an OBJ file of a cube to demonstrate the usage of the mesh converter. The following shows the steps to clone the repository and run the converter:" +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:160 +msgid "Similar to the URDF converter, executing the above script will create two USD files inside the ``source/extensions/omni.isaac.lab_assets/data/Props/CubeMultiColor/`` directory. Additionally, if you press play on the opened window, you should see the asset fall down under the influence of gravity." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:165 +msgid "If you do not set the ``--mass`` flag, then no rigid body properties will be added to the asset. It will be imported as a static asset." +msgstr "" + +#: ../../source/how-to/import_new_asset.rst:167 +msgid "If you also do not set the ``--collision-approximation`` flag, then the asset will not have any collider properties as well and will be imported as a visual asset." +msgstr "" diff --git a/docs/_build/gettext/source/how-to/index.pot b/docs/_build/gettext/source/how-to/index.pot new file mode 100644 index 0000000000..ed60fb40f5 --- /dev/null +++ b/docs/_build/gettext/source/how-to/index.pot @@ -0,0 +1,29 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/how-to/index.rst:2 +msgid "How-to Guides" +msgstr "" + +#: ../../source/how-to/index.rst:4 +msgid "This section includes guides that help you use Isaac Lab. These are intended for users who have already worked through the tutorials and are looking for more information on how to use Isaac Lab. If you are new to Isaac Lab, we recommend you start with the tutorials." +msgstr "" + +#: ../../source/how-to/index.rst:10 +msgid "This section is a work in progress. If you have a question that is not answered here, please open an issue on our `GitHub page `_." +msgstr "" diff --git a/docs/_build/gettext/source/how-to/make_fixed_prim.pot b/docs/_build/gettext/source/how-to/make_fixed_prim.pot new file mode 100644 index 0000000000..d21767764d --- /dev/null +++ b/docs/_build/gettext/source/how-to/make_fixed_prim.pot @@ -0,0 +1,133 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/how-to/make_fixed_prim.rst:2 +msgid "Making a physics prim fixed in the simulation" +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:6 +msgid "When a USD prim has physics schemas applied on it, it is affected by physics simulation. This means that the prim can move, rotate, and collide with other prims in the simulation world. However, there are cases where it is desirable to make certain prims static in the simulation world, i.e. the prim should still participate in collisions but its position and orientation should not change." +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:11 +msgid "The following sections describe how to spawn a prim with physics schemas and make it static in the simulation world." +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:14 +msgid "Static colliders" +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:16 +msgid "Static colliders are prims that are not affected by physics but can collide with other prims in the simulation world. These don't have any rigid body properties applied on them. However, this also means that they can't be accessed using the physics tensor API (i.e., through the :class:`assets.RigidObject` class)." +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:20 +msgid "For instance, to spawn a cone static in the simulation world, the following code can be used:" +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:38 +msgid "Rigid object" +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:40 +msgid "Rigid objects (i.e. object only has a single body) can be made static by setting the parameter :attr:`sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled` as True. This will make the object kinematic and it will not be affected by physics." +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:44 +msgid "For instance, to spawn a cone static in the simulation world but with rigid body schema on it, the following code can be used:" +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:65 +msgid "Articulation" +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:67 +msgid "Fixing the root of an articulation requires having a fixed joint to the root rigid body link of the articulation. This can be achieved by setting the parameter :attr:`sim.schemas.ArticulationRootPropertiesCfg.fix_root_link` as True. Based on the value of this parameter, the following cases are possible:" +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:71 +msgid "If set to :obj:`None`, the root link is not modified." +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:72 +msgid "If the articulation already has a fixed root link, this flag will enable or disable the fixed joint." +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:73 +msgid "If the articulation does not have a fixed root link, this flag will create a fixed joint between the world frame and the root link. The joint is created with the name \"FixedJoint\" under the root link." +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:76 +msgid "For instance, to spawn an ANYmal robot and make it static in the simulation world, the following code can be used:" +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:107 +msgid "This will create a fixed joint between the world frame and the root link of the ANYmal robot at the prim path ``\"/World/ANYmal/base/FixedJoint\"`` since the root link is at the path ``\"/World/ANYmal/base\"``." +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:112 +msgid "Further notes" +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:114 +msgid "Given the flexibility of USD asset designing the following possible scenarios are usually encountered:" +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:116 +msgid "**Articulation root schema on the rigid body prim without a fixed joint**:" +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:118 +msgid "This is the most common and recommended scenario for floating-base articulations. The root prim has both the rigid body and the articulation root properties. In this case, the articulation root is parsed as a floating-base with the root prim of the articulation ``Link0Xform``." +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:127 +msgid "**Articulation root schema on the parent prim with a fixed joint**:" +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:129 +msgid "This is the expected arrangement for fixed-base articulations. The root prim has only the rigid body properties and the articulation root properties are applied to its parent prim. In this case, the articulation root is parsed as a fixed-base with the root prim of the articulation ``Link0Xform``." +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:139 +msgid "**Articulation root schema on the parent prim without a fixed joint**:" +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:141 +msgid "This is a scenario where the root prim has only the rigid body properties and the articulation root properties are applied to its parent prim. However, the fixed joint is not created between the world frame and the root link. In this case, the articulation is parsed as a floating-base system. However, the PhysX parser uses its own heuristic (such as alphabetical order) to determine the root prim of the articulation. It may select the root prim at ``Link0Xform`` or choose another prim as the root prim." +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:152 +msgid "**Articulation root schema on the rigid body prim with a fixed joint**:" +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:154 +msgid "While this is a valid scenario, it is not recommended as it may lead to unexpected behavior. In this case, the articulation is still parsed as a floating-base system. However, the fixed joint, created between the world frame and the root link, is considered as a part of the maximal coordinate tree. This is different from PhysX considering the articulation as a fixed-base system. Hence, the simulation may not behave as expected." +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:165 +msgid "For floating base articulations, the root prim usually has both the rigid body and the articulation root properties. However, directly connecting this prim to the world frame will cause the simulation to consider the fixed joint as a part of the maximal coordinate tree. This is different from PhysX considering the articulation as a fixed-base system." +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:170 +msgid "Internally, when the parameter :attr:`sim.schemas.ArticulationRootPropertiesCfg.fix_root_link` is set to True and the articulation is detected as a floating-base system, the fixed joint is created between the world frame the root rigid body link of the articulation. However, to make the PhysX parser consider the articulation as a fixed-base system, the articulation root properties are removed from the root rigid body prim and applied to its parent prim instead." +msgstr "" + +#: ../../source/how-to/make_fixed_prim.rst:178 +msgid "In future release of Isaac Sim, an explicit flag will be added to the articulation root schema from PhysX to toggle between fixed-base and floating-base systems. This will resolve the need of the above workaround." +msgstr "" diff --git a/docs/_build/gettext/source/how-to/master_omniverse.pot b/docs/_build/gettext/source/how-to/master_omniverse.pot new file mode 100644 index 0000000000..af5f138217 --- /dev/null +++ b/docs/_build/gettext/source/how-to/master_omniverse.pot @@ -0,0 +1,257 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/how-to/master_omniverse.rst:2 +msgid "Mastering Omniverse for Robotics" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:4 +msgid "NVIDIA Omniverse offers a large suite of tools for 3D content workflows. There are three main components (relevant to robotics) in Omniverse:" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:7 +msgid "**USD Composer**: This is based on a novel file format (Universal Scene Description) from the animation (originally Pixar) community that is used in Omniverse" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:10 +msgid "**PhysX SDK**: This is the main physics engine behind Omniverse that leverages GPU-based parallelization for massive scenes" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:12 +msgid "**RTX-enabled Renderer**: This uses ray-tracing kernels in NVIDIA RTX GPUs for real-time physically-based rendering" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:15 +msgid "Of these, the first two require a deeper understanding to start working with Omniverse and its constituent applications (Isaac Sim and Isaac Lab)." +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:18 +msgid "The main things to learn:" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:20 +msgid "How to use the Composer GUI efficiently?" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:21 +msgid "What are USD prims and schemas?" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:22 +msgid "How do you compose a USD scene?" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:23 +msgid "What is the difference between references and payloads in USD?" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:24 +msgid "What is meant by scene-graph instancing?" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:25 +msgid "How to apply PhysX schemas on prims? What all schemas are possible?" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:26 +msgid "How to write basic operations in USD for creating prims and modifying their attributes?" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:31 +msgid "Part 1: Using USD Composer" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:33 +msgid "While several `video tutorials `__ and `documentation `__ exist out there on NVIDIA Omniverse, going through all of them would take an extensive amount of time and effort. Thus, we have curated these resources to guide you through using Omniverse, specifically for robotics." +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:41 +msgid "Introduction to Omniverse and USD" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:43 +msgid "`What is NVIDIA Omniverse? `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:44 +msgid "`What is the USD File Type? \\| Getting Started in NVIDIA Omniverse `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:45 +msgid "`What Makes USD Unique in NVIDIA Omniverse `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:47 +msgid "Using Omniverse USD Composer" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:49 +msgid "`Introduction to Omniverse USD Composer `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:50 +msgid "`Navigation Basics in Omniverse USD Composer `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:51 +msgid "`Lighting Basics in NVIDIA Omniverse USD Composer `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:52 +msgid "`Rendering Overview in NVIDIA Omniverse USD Composer `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:54 +msgid "Materials and MDL" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:56 +msgid "`Five Things to Know About Materials in NVIDIA Omniverse `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:57 +msgid "`How to apply materials? `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:59 +msgid "Omniverse Physics and PhysX SDK" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:61 +msgid "`Basics - Setting Up Physics and Toolbar Overview `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:62 +msgid "`Basics - Demos Overview `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:63 +msgid "`Rigid Bodies - Mass Editing `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:64 +msgid "`Materials - Friction Restitution and Defaults `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:65 +msgid "`Overview of Simulation Ready Assets Physics in Omniverse `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:67 +msgid "Importing assets" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:69 +msgid "`Omniverse Create - Importing FBX Files \\| NVIDIA Omniverse Tutorials `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:70 +msgid "`Omniverse Asset Importer `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:71 +msgid "`Isaac Sim URDF impoter `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:75 +msgid "Part 2: Scripting in Omniverse" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:77 +msgid "The above links mainly introduced how to use the USD Composer and its functionalities through UI operations. However, often developers need to write scripts to perform operations. This is especially true when you want to automate certain tasks or create custom applications that use Omniverse as a backend. This section will introduce you to scripting in Omniverse." +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:84 +msgid "USD is the main file format Omniverse operates with. So naturally, the APIs (from OpenUSD) for modifying USD are at the core of Omniverse. Most of the APIs are in C++ and Python bindings are provided for them. Thus, to script in Omniverse, you need to understand the USD APIs." +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:91 +msgid "While Isaac Sim and Isaac Lab try to \"relieve\" users from understanding the core USD concepts and APIs, understanding these basics still help a lot once you start diving inside the codebase and modifying it for your own application." +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:96 +msgid "Before diving into USD scripting, it is good to get acquainted with the terminologies used in USD. We recommend the following `introduction to USD basics `__ by Houdini, which is a 3D animation software. Make sure to go through the following sections:" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:102 +msgid "`Quick example `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:103 +msgid "`Attributes and primvars `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:104 +msgid "`Composition `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:105 +msgid "`Schemas `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:106 +msgid "`Instances `__ and `Scene-graph Instancing `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:109 +msgid "As a test of understanding, make sure you can answer the following:" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:111 +msgid "What are prims? What is meant by a prim path in a stage?" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:112 +msgid "How are attributes related to prims?" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:113 +msgid "How are schemas related to prims?" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:114 +msgid "What is the difference between attributes and schemas?" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:115 +msgid "What is asset instancing?" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:118 +msgid "Part 3: More Resources" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:120 +msgid "`Omniverse Glossary of Terms `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:121 +msgid "`Omniverse Code Samples `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:122 +msgid "`PhysX Collider Compatibility `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:123 +msgid "`PhysX Limitations `__" +msgstr "" + +#: ../../source/how-to/master_omniverse.rst:124 +msgid "`PhysX Documentation `__." +msgstr "" diff --git a/docs/_build/gettext/source/how-to/record_animation.pot b/docs/_build/gettext/source/how-to/record_animation.pot new file mode 100644 index 0000000000..f769b5d9ba --- /dev/null +++ b/docs/_build/gettext/source/how-to/record_animation.pot @@ -0,0 +1,81 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/how-to/record_animation.rst:2 +msgid "Recording Animations of Simulations" +msgstr "" + +#: ../../source/how-to/record_animation.rst:6 +msgid "Omniverse includes tools to record animations of physics simulations. The `Stage Recorder`_ extension listens to all the motion and USD property changes within a USD stage and records them to a USD file. This file contains the time samples of the changes, which can be played back to render the animation." +msgstr "" + +#: ../../source/how-to/record_animation.rst:10 +msgid "The timeSampled USD file only contains the changes to the stage. It uses the same hierarchy as the original stage at the time of recording. This allows adding the animation to the original stage, or to a different stage with the same hierarchy. The timeSampled file can be directly added as a sublayer to the original stage to play back the animation." +msgstr "" + +#: ../../source/how-to/record_animation.rst:17 +msgid "Omniverse only supports playing animation or playing physics on a USD prim at the same time. If you want to play back the animation of a USD prim, you need to disable the physics simulation on the prim." +msgstr "" + +#: ../../source/how-to/record_animation.rst:21 +msgid "In Isaac Lab, we directly use the `Stage Recorder`_ extension to record the animation of the physics simulation. This is available as a feature in the :class:`~omni.isaac.lab.envs.ui.BaseEnvWindow` class. However, to record the animation of a simulation, you need to disable `Fabric`_ to allow reading and writing all the changes (such as motion and USD properties) to the USD stage." +msgstr "" + +#: ../../source/how-to/record_animation.rst:28 +msgid "Stage Recorder Settings" +msgstr "" + +#: ../../source/how-to/record_animation.rst:30 +msgid "Isaac Lab integration of the `Stage Recorder`_ extension assumes certain default settings. If you want to change the settings, you can directly use the `Stage Recorder`_ extension in the Omniverse Create application." +msgstr "" + +#: ../../source/how-to/record_animation.rst:0 +msgid "Settings used in base_env_window.py" +msgstr "" + +#: ../../source/how-to/record_animation.rst:43 +msgid "Example Usage" +msgstr "" + +#: ../../source/how-to/record_animation.rst:45 +msgid "In all environment standalone scripts, Fabric can be disabled by passing the ``--disable_fabric`` flag to the script. Here we run the state-machine example and record the animation of the simulation." +msgstr "" + +#: ../../source/how-to/record_animation.rst:53 +msgid "On running the script, the Isaac Lab UI window opens with the button \"Record Animation\" in the toolbar. Clicking this button starts recording the animation of the simulation. On clicking the button again, the recording stops. The recorded animation and the original stage (with all physics disabled) are saved to the ``recordings`` folder in the current working directory. The files are stored in the ``usd`` format:" +msgstr "" + +#: ../../source/how-to/record_animation.rst:58 +msgid "``Stage.usd``: The original stage with all physics disabled" +msgstr "" + +#: ../../source/how-to/record_animation.rst:59 +msgid "``TimeSample_tk001.usd``: The timeSampled file containing the recorded animation" +msgstr "" + +#: ../../source/how-to/record_animation.rst:61 +msgid "You can open Omniverse Isaac Sim application to play back the animation. There are many ways to launch the application (such as from terminal or `Omniverse Launcher`_). Here we use the terminal to open the application and play the animation." +msgstr "" + +#: ../../source/how-to/record_animation.rst:69 +msgid "On a new stage, add the ``Stage.usd`` as a sublayer and then add the ``TimeSample_tk001.usd`` as a sublayer. You can do this by dragging and dropping the files from the file explorer to the stage. Please check out the `tutorial on layering in Omniverse`_ for more details." +msgstr "" + +#: ../../source/how-to/record_animation.rst:73 +msgid "You can then play the animation by pressing the play button." +msgstr "" diff --git a/docs/_build/gettext/source/how-to/save_camera_output.pot b/docs/_build/gettext/source/how-to/save_camera_output.pot new file mode 100644 index 0000000000..42e114fd8f --- /dev/null +++ b/docs/_build/gettext/source/how-to/save_camera_output.pot @@ -0,0 +1,77 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/how-to/save_camera_output.rst:5 +msgid "Saving rendered images and 3D re-projection" +msgstr "" + +#: ../../source/how-to/save_camera_output.rst:9 +msgid "This guide accompanied with the ``run_usd_camera.py`` script in the ``IsaacLab/source/standalone/tutorials/04_sensors`` directory." +msgstr "" + +#: ../../source/how-to/save_camera_output.rst:0 +msgid "Code for run_usd_camera.py" +msgstr "" + +#: ../../source/how-to/save_camera_output.rst:22 +msgid "Saving using Replicator Basic Writer" +msgstr "" + +#: ../../source/how-to/save_camera_output.rst:24 +msgid "To save camera outputs, we use the basic write class from Omniverse Replicator. This class allows us to save the images in a numpy format. For more information on the basic writer, please check the `documentation `_." +msgstr "" + +#: ../../source/how-to/save_camera_output.rst:33 +msgid "While stepping the simulator, the images can be saved to the defined folder. Since the BasicWriter only supports saving data using NumPy format, we first need to convert the PyTorch sensors to NumPy arrays before packing them in a dictionary." +msgstr "" + +#: ../../source/how-to/save_camera_output.rst:42 +msgid "After this step, we can save the images using the BasicWriter." +msgstr "" + +#: ../../source/how-to/save_camera_output.rst:51 +msgid "Projection into 3D Space" +msgstr "" + +#: ../../source/how-to/save_camera_output.rst:53 +msgid "We include utilities to project the depth image into 3D Space. The re-projection operations are done using PyTorch operations which allows faster computation." +msgstr "" + +#: ../../source/how-to/save_camera_output.rst:67 +msgid "Alternately, we can use the :meth:`omni.isaac.lab.sensors.camera.utils.create_pointcloud_from_depth` function to create a point cloud from the depth image and transform it to the world frame." +msgstr "" + +#: ../../source/how-to/save_camera_output.rst:75 +msgid "The resulting point cloud can be visualized using the :mod:`omni.isaac.debug_draw` extension from Isaac Sim. This makes it easy to visualize the point cloud in the 3D space." +msgstr "" + +#: ../../source/how-to/save_camera_output.rst:85 +msgid "Executing the script" +msgstr "" + +#: ../../source/how-to/save_camera_output.rst:87 +msgid "To run the accompanying script, execute the following command:" +msgstr "" + +#: ../../source/how-to/save_camera_output.rst:98 +msgid "The simulation should start, and you can observe different objects falling down. An output folder will be created in the ``IsaacLab/source/standalone/tutorials/04_sensors`` directory, where the images will be saved. Additionally, you should see the point cloud in the 3D space drawn on the viewport." +msgstr "" + +#: ../../source/how-to/save_camera_output.rst:102 +msgid "To stop the simulation, close the window, press the ``STOP`` button in the UI, or use ``Ctrl+C`` in the terminal." +msgstr "" diff --git a/docs/_build/gettext/source/how-to/wrap_rl_env.pot b/docs/_build/gettext/source/how-to/wrap_rl_env.pot new file mode 100644 index 0000000000..8f76f2f09d --- /dev/null +++ b/docs/_build/gettext/source/how-to/wrap_rl_env.pot @@ -0,0 +1,109 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/how-to/wrap_rl_env.rst:5 +msgid "Wrapping environments" +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:9 +msgid "Environment wrappers are a way to modify the behavior of an environment without modifying the environment itself. This can be used to apply functions to modify observations or rewards, record videos, enforce time limits, etc. A detailed description of the API is available in the :class:`gymnasium.Wrapper` class." +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:13 +msgid "At present, all RL environments inheriting from the :class:`~envs.ManagerBasedRLEnv` class are compatible with :class:`gymnasium.Wrapper`, since the base class implements the :class:`gymnasium.Env` interface. In order to wrap an environment, you need to first initialize the base environment. After that, you can wrap it with as many wrappers as you want by calling ``env = wrapper(env, *args, **kwargs)`` repeatedly." +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:18 +msgid "For example, here is how you would wrap an environment to enforce that reset is called before step or render:" +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:46 +msgid "Wrapper for recording videos" +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:48 +msgid "The :class:`gymnasium.wrappers.RecordVideo` wrapper can be used to record videos of the environment. The wrapper takes a ``video_dir`` argument, which specifies where to save the videos. The videos are saved in `mp4 `__ format at specified intervals for specified number of environment steps or episodes." +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:53 +msgid "To use the wrapper, you need to first install ``ffmpeg``. On Ubuntu, you can install it by running:" +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:61 +msgid "By default, when running an environment in headless mode, the Omniverse viewport is disabled. This is done to improve performance by avoiding unnecessary rendering." +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:64 +msgid "We notice the following performance in different rendering modes with the ``Isaac-Reach-Franka-v0`` environment using an RTX 3090 GPU:" +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:67 +msgid "No GUI execution without off-screen rendering enabled: ~65,000 FPS" +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:68 +msgid "No GUI execution with off-screen enabled: ~57,000 FPS" +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:69 +msgid "GUI execution with full rendering: ~13,000 FPS" +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:72 +msgid "The viewport camera used for rendering is the default camera in the scene called ``\"/OmniverseKit_Persp\"``. The camera's pose and image resolution can be configured through the :class:`~envs.ViewerCfg` class." +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:0 +msgid "Default parameters of the ViewerCfg class:" +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:85 +msgid "After adjusting the parameters, you can record videos by wrapping the environment with the :class:`gymnasium.wrappers.RecordVideo` wrapper and enabling the off-screen rendering flag. Additionally, you need to specify the render mode of the environment as ``\"rgb_array\"``." +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:89 +msgid "As an example, the following code records a video of the ``Isaac-Reach-Franka-v0`` environment for 200 steps, and saves it in the ``videos`` folder at a step interval of 1500 steps." +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:124 +msgid "Wrapper for learning frameworks" +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:126 +msgid "Every learning framework has its own API for interacting with environments. For example, the `Stable-Baselines3`_ library uses the `gym.Env `_ interface to interact with environments. However, libraries like `RL-Games`_, `RSL-RL`_ or `SKRL`_ use their own API for interfacing with a learning environments. Since there is no one-size-fits-all solution, we do not base the :class:`~envs.ManagerBasedRLEnv` class on any particular learning framework's environment definition. Instead, we implement wrappers to make it compatible with the learning framework's environment definition." +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:134 +msgid "As an example of how to use the RL task environment with Stable-Baselines3:" +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:148 +msgid "Wrapping the environment with the respective learning framework's wrapper should happen in the end, i.e. after all other wrappers have been applied. This is because the learning framework's wrapper modifies the interpretation of environment's APIs which may no longer be compatible with :class:`gymnasium.Env`." +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:154 +msgid "Adding new wrappers" +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:156 +msgid "All new wrappers should be added to the :mod:`omni.isaac.lab_tasks.utils.wrappers` module. They should check that the underlying environment is an instance of :class:`omni.isaac.lab.envs.ManagerBasedRLEnv` before applying the wrapper. This can be done by using the :func:`unwrapped` property." +msgstr "" + +#: ../../source/how-to/wrap_rl_env.rst:160 +msgid "We include a set of wrappers in this module that can be used as a reference to implement your own wrappers. If you implement a new wrapper, please consider contributing it to the framework by opening a pull request." +msgstr "" diff --git a/docs/_build/gettext/source/how-to/write_articulation_cfg.pot b/docs/_build/gettext/source/how-to/write_articulation_cfg.pot new file mode 100644 index 0000000000..100e9ffa96 --- /dev/null +++ b/docs/_build/gettext/source/how-to/write_articulation_cfg.pot @@ -0,0 +1,105 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/how-to/write_articulation_cfg.rst:5 +msgid "Writing an Asset Configuration" +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:9 +msgid "This guide walks through the process of creating an :class:`~assets.ArticulationCfg`. The :class:`~assets.ArticulationCfg` is a configuration object that defines the properties of an :class:`~assets.Articulation` in Isaac Lab." +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:15 +msgid "While we only cover the creation of an :class:`~assets.ArticulationCfg` in this guide, the process is similar for creating any other asset configuration object." +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:18 +msgid "We will use the Cartpole example to demonstrate how to create an :class:`~assets.ArticulationCfg`. The Cartpole is a simple robot that consists of a cart with a pole attached to it. The cart is free to move along a rail, and the pole is free to rotate about the cart." +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:0 +msgid "Code for Cartpole configuration" +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:31 +msgid "Defining the spawn configuration" +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:33 +msgid "As explained in :ref:`tutorial-spawn-prims` tutorials, the spawn configuration defines the properties of the assets to be spawned. This spawning may happen procedurally, or through an existing asset file (e.g. USD or URDF). In this example, we will spawn the Cartpole from a USD file." +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:38 +msgid "When spawning an asset from a USD file, we define its :class:`~sim.spawners.from_files.UsdFileCfg`. This configuration object takes in the following parameters:" +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:41 +msgid ":class:`~sim.spawners.from_files.UsdFileCfg.usd_path`: The USD file path to spawn from" +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:42 +msgid ":class:`~sim.spawners.from_files.UsdFileCfg.rigid_props`: The properties of the articulation's root" +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:43 +msgid ":class:`~sim.spawners.from_files.UsdFileCfg.articulation_props`: The properties of all the articulation's links" +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:45 +msgid "The last two parameters are optional. If not specified, they are kept at their default values in the USD file." +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:52 +msgid "To import articulation from a URDF file instead of a USD file, you can replace the :class:`~sim.spawners.from_files.UsdFileCfg` with a :class:`~sim.spawners.from_files.UrdfFileCfg`. For more details, please check the API documentation." +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:58 +msgid "Defining the initial state" +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:60 +msgid "Every asset requires defining their initial or *default* state in the simulation through its configuration. This configuration is stored into the asset's default state buffers that can be accessed when the asset's state needs to be reset." +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:65 +msgid "The initial state of an asset is defined w.r.t. its local environment frame. This then needs to be transformed into the global simulation frame when resetting the asset's state. For more details, please check the :ref:`tutorial-interact-articulation` tutorial." +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:70 +msgid "For an articulation, the :class:`~assets.ArticulationCfg.InitialStateCfg` object defines the initial state of the root of the articulation and the initial state of all its joints. In this example, we will spawn the Cartpole at the origin of the XY plane at a Z height of 2.0 meters. Meanwhile, the joint positions and velocities are set to 0.0." +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:81 +msgid "Defining the actuator configuration" +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:83 +msgid "Actuators are a crucial component of an articulation. Through this configuration, it is possible to define the type of actuator model to use. We can use the internal actuator model provided by the physics engine (i.e. the implicit actuator model), or use a custom actuator model which is governed by a user-defined system of equations (i.e. the explicit actuator model). For more details on actuators, see :ref:`feature-actuators`." +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:89 +msgid "The cartpole's articulation has two actuators, one corresponding to its each joint: ``cart_to_pole`` and ``slider_to_cart``. We use two different actuator models for these actuators as an example. However, since they are both using the same actuator model, it is possible to combine them into a single actuator model." +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:0 +msgid "Actuator model configuration with separate actuator models" +msgstr "" + +#: ../../source/how-to/write_articulation_cfg.rst:0 +msgid "Actuator model configuration with a single actuator model" +msgstr "" diff --git a/docs/_build/gettext/source/migration/migrating_from_isaacgymenvs.pot b/docs/_build/gettext/source/migration/migrating_from_isaacgymenvs.pot new file mode 100644 index 0000000000..ca3e58f56a --- /dev/null +++ b/docs/_build/gettext/source/migration/migrating_from_isaacgymenvs.pot @@ -0,0 +1,500 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:4 +msgid "From IsaacGymEnvs" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:9 +msgid "`IsaacGymEnvs`_ was a reinforcement learning framework designed for the `Isaac Gym Preview Release`_. As both IsaacGymEnvs and the Isaac Gym Preview Release are now deprecated, the following guide walks through the key differences between IsaacGymEnvs and Isaac Lab, as well as differences in APIs between Isaac Gym Preview Release and Isaac Sim." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:16 +msgid "Task Config Setup" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:18 +msgid "In IsaacGymEnvs, task config files were defined in ``.yaml`` format. With Isaac Lab, configs are now specified using a specialized Python class :class:`~omni.isaac.lab.utils.configclass`. The :class:`~omni.isaac.lab.utils.configclass` module provides a wrapper on top of Python's ``dataclasses`` module. Each environment should specify its own config class annotated by ``@configclass`` that inherits from :class:`~envs.DirectRLEnvCfg`, which can include simulation parameters, environment scene parameters, robot parameters, and task-specific parameters." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:24 +msgid "Below is an example skeleton of a task config class:" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:50 +msgid "Simulation Config" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:52 +msgid "Simulation related parameters are defined as part of the :class:`~omni.isaac.lab.sim.SimulationCfg` class, which is a :class:`~omni.isaac.lab.utils.configclass` module that holds simulation parameters such as ``dt``, ``device``, and ``gravity``. Each task config must have a variable named ``sim`` defined that holds the type :class:`~omni.isaac.lab.sim.SimulationCfg`." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:57 +msgid "In Isaac Lab, the use of ``substeps`` has been replaced by a combination of the simulation ``dt`` and the ``decimation`` parameters. For example, in IsaacGymEnvs, having ``dt=1/60`` and ``substeps=2`` is equivalent to taking 2 simulation steps with ``dt=1/120``, but running the task step at ``1/60`` seconds. The ``decimation`` parameter is a task parameter that controls the number of simulation steps to take for each task (or RL) step, replacing the ``controlFrequencyInv`` parameter in IsaacGymEnvs. Thus, the same setup in Isaac Lab will become ``dt=1/120`` and ``decimation=2``." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:64 +msgid "In Isaac Sim, physx simulation parameters such as ``num_position_iterations``, ``num_velocity_iterations``, ``contact_offset``, ``rest_offset``, ``bounce_threshold_velocity``, ``max_depenetration_velocity`` can all be specified on a per-actor basis. These parameters have been moved from the physx simulation config to each individual articulation and rigid body config." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:69 +msgid "When running simulation on the GPU, buffers in PhysX require pre-allocation for computing and storing information such as contacts, collisions and aggregate pairs. These buffers may need to be adjusted depending on the complexity of the environment, the number of expected contacts and collisions, and the number of actors in the environment. The :class:`~omni.isaac.lab.sim.PhysxCfg` class provides access for setting the GPU buffer dimensions." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:104 +msgid "Scene Config" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:106 +msgid "The :class:`~omni.isaac.lab.scene.InteractiveSceneCfg` class can be used to specify parameters related to the scene, such as the number of environments and the spacing between environments. Each task config must have a variable named ``scene`` defined that holds the type :class:`~omni.isaac.lab.scene.InteractiveSceneCfg`." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:121 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:542 +msgid "Task Config" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:123 +msgid "Each environment should specify its own config class that holds task specific parameters, such as the dimensions of the observation and action buffers. Reward term scaling parameters can also be specified in the config class." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:126 +msgid "The following parameters must be set for each environment config:" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:136 +msgid "Note that the maximum episode length parameter (now ``episode_length_s``) is in seconds instead of steps as it was in IsaacGymEnvs. To convert between step count to seconds, use the equation: ``episode_length_s = dt * decimation * num_steps``" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:142 +msgid "RL Config Setup" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:144 +msgid "RL config files for the rl_games library can continue to be defined in ``.yaml`` files in Isaac Lab. Most of the content of the config file can be copied directly from IsaacGymEnvs. Note that in Isaac Lab, we do not use hydra to resolve relative paths in config files. Please replace any relative paths such as ``${....device}`` with the actual values of the parameters." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:149 +msgid "Additionally, the observation and action clip ranges have been moved to the RL config file. For any ``clipObservations`` and ``clipActions`` parameters that were defined in the IsaacGymEnvs task config file, they should be moved to the RL config file in Isaac Lab." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:155 +msgid "IsaacGymEnvs Task Config" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:155 +msgid "Isaac Lab RL Config" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:167 +msgid "Environment Creation" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:169 +msgid "In IsaacGymEnvs, environment creation generally included four components: creating the sim object with ``create_sim()``, creating the ground plane, importing the assets from MJCF or URDF files, and finally creating the environments by looping through each environment and adding actors into the environments." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:173 +msgid "Isaac Lab no longer requires calling the ``create_sim()`` method to retrieve the sim object. Instead, the simulation context is retrieved automatically by the framework. It is also no longer required to use the ``sim`` as an argument for the simulation APIs." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:177 +msgid "In replacement of ``create_sim()``, tasks can implement the ``_setup_scene()`` method in Isaac Lab. This method can be used for adding actors into the scene, adding ground plane, cloning the actors, and adding any other optional objects into the scene, such as lights." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:182 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:399 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:419 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:501 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:545 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:601 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:643 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:740 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:775 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:828 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:855 +msgid "IsaacGymEnvs" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:182 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:399 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:419 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:501 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:545 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:601 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:643 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:775 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:828 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:855 +msgid "Isaac Lab" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:202 +msgid "Ground Plane" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:204 +msgid "In Isaac Lab, most of the environment creation process has been simplified into configs with the :class:`~omni.isaac.lab.utils.configclass` module." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:206 +msgid "The ground plane can be defined using the :class:`~terrains.TerrainImporterCfg` class." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:225 +msgid "The terrain can then be added to the scene in ``_setup_scene(self)`` by referencing the ``TerrainImporterCfg`` object:" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:237 +msgid "Actors" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:239 +msgid "Isaac Lab and Isaac Sim both use the `USD (Universal Scene Description) `_ library for describing the scene. Assets defined in MJCF and URDF formats can be imported to USD using importer tools described in the `Importing a New Asset <../how-to/import_new_asset.html>`_ tutorial." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:243 +msgid "Each Articulation and Rigid Body actor can also have its own config class. The :class:`~omni.isaac.lab.assets.ArticulationCfg` class can be used to define parameters for articulation actors, including file path, simulation parameters, actuator properties, and initial states." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:287 +msgid "Within the :class:`~assets.ArticulationCfg`, the ``spawn`` attribute can be used to add the robot to the scene by specifying the path to the robot file. In addition, :class:`~omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg` can be used to specify simulation properties for the rigid bodies in the articulation. Similarly, the :class:`~omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg` class can be used to specify simulation properties for the articulation. Joint properties are now specified as part of the ``actuators`` dictionary using :class:`~actuators.ImplicitActuatorCfg`. Joints with the same properties can be grouped into regex expressions or provided as a list of names or expressions." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:295 +msgid "Actors are added to the scene by simply calling ``self.cartpole = Articulation(self.cfg.robot_cfg)``, where ``self.cfg.robot_cfg`` is an :class:`~assets.ArticulationCfg` object. Once initialized, they should also be added to the :class:`~scene.InteractiveScene` by calling ``self.scene.articulations[\"cartpole\"] = self.cartpole`` so that the :class:`~scene.InteractiveScene` can traverse through actors in the scene for writing values to the simulation and resetting." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:302 +msgid "Simulation Parameters for Actors" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:304 +msgid "Some simulation parameters related to Rigid Bodies and Articulations may have different default values between Isaac Gym Preview Release and Isaac Sim. It may be helpful to double check the USD assets to ensure that the default values are applicable for the asset." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:309 +msgid "For instance, the following parameters in the ``RigidBodyAPI`` could be different between Isaac Gym Preview Release and Isaac Sim:" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:316 +msgid "RigidBodyAPI Parameter" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:317 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:345 +msgid "Default Value in Isaac Sim" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:318 +msgid "Default Value in Isaac Gym Preview Release" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:319 +msgid "Linear Damping" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:320 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:321 +msgid "0.00" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:322 +msgid "Angular Damping" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:323 +msgid "0.05" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:324 +msgid "0.0" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:325 +msgid "Max Linear Velocity" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:326 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:332 +msgid "inf" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:327 +msgid "1000" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:328 +msgid "Max Angular Velocity" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:329 +msgid "5729.58008 (degree/s)" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:330 +msgid "64.0 (rad/s)" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:331 +msgid "Max Contact Impulse" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:333 +msgid "1e32" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:335 +msgid "Articulation parameters for the ``JointAPI`` and ``DriveAPI`` could be altered as well. Note that the Isaac Sim UI assumes the unit of angle to be degrees. It is particularly worth noting that the ``Damping`` and ``Stiffness`` parameters in the ``DriveAPI`` have the unit of ``1/deg`` in the Isaac Sim UI but ``1/rad`` in Isaac Gym Preview Release." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:344 +msgid "Joint Parameter" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:346 +msgid "Default Value in Isaac Gym Preview Releases" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:347 +msgid "Maximum Joint Velocity" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:348 +msgid "1000000.0 (deg)" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:349 +msgid "100.0 (rad)" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:353 +msgid "Cloner" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:355 +msgid "Isaac Sim introduced a concept of ``Cloner``, which is a class designed for replication during the scene creation process. In IsaacGymEnvs, scenes had to be created by looping through the number of environments. Within each iteration, actors were added to each environment and their handles had to be cached. Isaac Lab eliminates the need for looping through the environments by using the ``Cloner`` APIs. The scene creation process is as follow:" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:361 +msgid "Construct a single environment (what the scene would look like if number of environments = 1)" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:362 +msgid "Call ``clone_environments()`` to replicate the single environment" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:363 +msgid "Call ``filter_collisions()`` to filter out collision between environments (if required)" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:377 +msgid "Accessing States from Simulation" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:379 +msgid "APIs for accessing physics states in Isaac Lab require the creation of an :class:`~assets.Articulation` or :class:`~assets.RigidObject` object. Multiple objects can be initialized for different articulations or rigid bodies in the scene by defining corresponding :class:`~assets.ArticulationCfg` or :class:`~assets.RigidObjectCfg` config as outlined in the section above. This approach eliminates the need of retrieving body handles to slice states for specific bodies in the scene." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:392 +msgid "We have also removed ``acquire`` and ``refresh`` APIs in Isaac Lab. Physics states can be directly applied or retrieved using APIs defined for the articulations and rigid objects." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:395 +msgid "APIs provided in Isaac Lab no longer require explicit wrapping and un-wrapping of underlying buffers. APIs can now work with tensors directly for reading and writing data." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:408 +msgid "Note some naming differences between APIs in Isaac Gym Preview Release and Isaac Lab. Most ``dof`` related APIs have been named to ``joint`` in Isaac Lab. APIs in Isaac Lab also no longer follow the explicit ``_tensors`` or ``_tensor_indexed`` suffixes in naming. Indexed versions of APIs now happen implicitly through the optional ``indices`` parameter." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:413 +msgid "Most APIs in Isaac Lab also provide the option to specify an ``indices`` parameter, which can be used when reading or writing data for a subset of environments. Note that when setting states with the ``indices`` parameter, the shape of the states buffer should match with the dimension of the ``indices`` list." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:430 +msgid "Quaternion Convention" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:432 +msgid "Isaac Lab and Isaac Sim both adopt ``wxyz`` as the quaternion convention. However, the quaternion convention used in Isaac Gym Preview Release was ``xyzw``. Remember to switch all quaternions to use the ``xyzw`` convention when working indexing rotation data. Similarly, please ensure all quaternions are in ``wxyz`` before passing them to Isaac Lab APIs." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:439 +msgid "Articulation Joint Order" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:441 +msgid "Physics simulation in Isaac Sim and Isaac Lab assumes a breadth-first ordering for the joints in a given kinematic tree. However, Isaac Gym Preview Release assumed a depth-first ordering for joints in the kinematic tree. This means that indexing joints based on their ordering may be different in IsaacGymEnvs and Isaac Lab." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:446 +msgid "In Isaac Lab, the list of joint names can be retrieved with ``Articulation.data.joint_names``, which will also correspond to the ordering of the joints in the Articulation." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:451 +msgid "Creating a New Environment" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:453 +msgid "Each environment in Isaac Lab should be in its own directory following this structure:" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:464 +msgid "``my_environment`` is the root directory of the task." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:465 +msgid "``my_environment/agents`` is the directory containing all RL config files for the task. Isaac Lab supports multiple RL libraries that can each have its own individual config file." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:466 +msgid "``my_environment/__init__.py`` is the main file that registers the environment with the Gymnasium interface. This allows the training and inferencing scripts to find the task by its name. The content of this file should be as follow:" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:489 +msgid "``my_environment/my_env.py`` is the main python script that implements the task logic and task config class for the environment." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:493 +msgid "Task Logic" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:495 +msgid "In Isaac Lab, the ``post_physics_step`` function has been moved to the framework in the base class. Tasks are not required to implement this method, but can choose to override it if a different workflow is desired." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:498 +msgid "By default, Isaac Lab follows the following flow in logic:" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:516 +msgid "In Isaac Lab, we also separate the ``pre_physics_step`` API for processing actions from the policy with the ``apply_action`` API, which sets the actions into the simulation. This provides more flexibility in controlling when actions should be written to simulation when ``decimation`` is used. ``pre_physics_step`` will be called once per step before stepping simulation. ``apply_actions`` will be called ``decimation`` number of times for each RL step, once before each simulation step call." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:522 +msgid "With this approach, resets are performed based on actions from the current step instead of the previous step. Observations will also be computed with the correct states after resets." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:525 +msgid "We have also performed some renamings of APIs:" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:527 +msgid "``create_sim(self)`` --> ``_setup_scene(self)``" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:528 +msgid "``pre_physics_step(self, actions)`` --> ``_pre_physics_step(self, actions)`` and ``_apply_action(self)``" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:529 +msgid "``reset_idx(self, env_ids)`` --> ``_reset_idx(self, env_ids)``" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:530 +msgid "``compute_observations(self)`` --> ``_get_observations(self)`` - ``_get_observations()`` should now return a dictionary ``{\"policy\": obs}``" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:531 +msgid "``compute_reward(self)`` --> ``_get_rewards(self)`` - ``_get_rewards()`` should now return the reward buffer" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:532 +msgid "``post_physics_step(self)`` --> moved to the base class" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:533 +msgid "In addition, Isaac Lab requires the implementation of ``_is_done(self)``, which should return two buffers: the ``reset`` buffer and the ``time_out`` buffer." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:537 +msgid "Putting It All Together" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:539 +msgid "The Cartpole environment is shown here in completion to fully show the comparison between the IsaacGymEnvs implementation and the Isaac Lab implementation." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:595 +msgid "Task Setup" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:597 +msgid "Isaac Lab no longer requires pre-initialization of buffers through the ``acquire_*`` APIs that were used in IsaacGymEnvs. It is also no longer necessary to ``wrap`` and ``unwrap`` tensors." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:636 +msgid "Scene Setup" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:638 +msgid "Scene setup is now done through the ``Cloner`` API and by specifying actor attributes in config objects. This eliminates the need to loop through the number of environments to set up the environments and avoids the need to set simulation parameters for actors in the task implementation." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:731 +msgid "Pre and Post Physics Step" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:733 +msgid "In IsaacGymEnvs, due to limitations of the GPU APIs, observations had stale data when environments had to perform resets. This restriction has been eliminated in Isaac Lab, and thus, tasks follow the correct workflow of applying actions, stepping simulation, collecting states, computing dones, calculating rewards, performing resets, and finally computing observations. This workflow is done automatically by the framework such that a ``post_physics_step`` API is not required in the task. However, individual tasks can override the ``step()`` API to control the workflow." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:740 +msgid "IsaacLab" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:768 +msgid "Dones and Resets" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:770 +msgid "In Isaac Lab, ``dones`` are computed in the ``_get_dones()`` method and should return two variables: ``resets`` and ``time_out``. Tracking of the ``progress_buf`` has been moved to the base class and is now automatically incremented and reset by the framework. The ``progress_buf`` variable has also been renamed to ``episode_length_buf``." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:821 +msgid "Observations" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:823 +msgid "In Isaac Lab, the ``_get_observations()`` API should now return a dictionary containing the ``policy`` key with the observation buffer as the value. For asymmetric policies, the dictionary should also include a ``critic`` key that holds the state buffer." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:848 +msgid "Rewards" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:850 +msgid "In Isaac Lab, the reward method ``_get_rewards`` should return the reward buffer as a return value. Similar to IsaacGymEnvs, computations in the reward function can also be performed using pytorch jit by adding the ``@torch.jit.script`` annotation." +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:903 +msgid "Launching Training" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:905 +msgid "To launch a training in Isaac Lab, use the command:" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:912 +msgid "Launching Inferencing" +msgstr "" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:914 +msgid "To launch inferencing in Isaac Lab, use the command:" +msgstr "" diff --git a/docs/_build/gettext/source/migration/migrating_from_omniisaacgymenvs.pot b/docs/_build/gettext/source/migration/migrating_from_omniisaacgymenvs.pot new file mode 100644 index 0000000000..39bd22c7db --- /dev/null +++ b/docs/_build/gettext/source/migration/migrating_from_omniisaacgymenvs.pot @@ -0,0 +1,406 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:4 +msgid "From OmniIsaacGymEnvs" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:9 +msgid "`OmniIsaacGymEnvs`_ was a reinforcement learning framework using the Isaac Sim platform. Features from OmniIsaacGymEnvs have been integrated into the Isaac Lab framework. We have updated OmniIsaacGymEnvs to Isaac Sim version 4.0.0 to support the migration process to Isaac Lab. Moving forward, OmniIsaacGymEnvs will be deprecated and future development will continue in Isaac Lab." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:17 +msgid "Task Config Setup" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:19 +msgid "In OmniIsaacGymEnvs, task config files were defined in ``.yaml`` format. With Isaac Lab, configs are now specified using a specialized Python class :class:`~omni.isaac.lab.utils.configclass`. The :class:`~omni.isaac.lab.utils.configclass` module provides a wrapper on top of Python's ``dataclasses`` module. Each environment should specify its own config class annotated by ``@configclass`` that inherits from the :class:`~envs.DirectRLEnvCfg` class, which can include simulation parameters, environment scene parameters, robot parameters, and task-specific parameters." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:26 +msgid "Below is an example skeleton of a task config class:" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:52 +msgid "Simulation Config" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:54 +msgid "Simulation related parameters are defined as part of the :class:`~omni.isaac.lab.sim.SimulationCfg` class, which is a :class:`~omni.isaac.lab.utils.configclass` module that holds simulation parameters such as ``dt``, ``device``, and ``gravity``. Each task config must have a variable named ``sim`` defined that holds the type :class:`~omni.isaac.lab.sim.SimulationCfg`." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:59 +msgid "Simulation parameters for articulations and rigid bodies such as ``num_position_iterations``, ``num_velocity_iterations``, ``contact_offset``, ``rest_offset``, ``bounce_threshold_velocity``, ``max_depenetration_velocity`` can all be specified on a per-actor basis in the config class for each individual articulation and rigid body." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:63 +msgid "When running simulation on the GPU, buffers in PhysX require pre-allocation for computing and storing information such as contacts, collisions and aggregate pairs. These buffers may need to be adjusted depending on the complexity of the environment, the number of expected contacts and collisions, and the number of actors in the environment. The :class:`~omni.isaac.lab.sim.PhysxCfg` class provides access for setting the GPU buffer dimensions." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:116 +msgid "Parameters such as ``add_ground_plane`` and ``add_distant_light`` are now part of the task logic when creating the scene. ``enable_cameras`` is now a command line argument ``--enable_cameras`` that can be passed directly to the training script." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:121 +msgid "Scene Config" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:123 +msgid "The :class:`~omni.isaac.lab.scene.InteractiveSceneCfg` class can be used to specify parameters related to the scene, such as the number of environments and the spacing between environments. Each task config must have a variable named ``scene`` defined that holds the type :class:`~omni.isaac.lab.scene.InteractiveSceneCfg`." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:138 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:473 +msgid "Task Config" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:140 +msgid "Each environment should specify its own config class that holds task specific parameters, such as the dimensions of the observation and action buffers. Reward term scaling parameters can also be specified in the config class." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:143 +msgid "In Isaac Lab, the ``controlFrequencyInv`` parameter has been renamed to ``decimation``, which must be specified as a parameter in the config class." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:146 +msgid "In addition, the maximum episode length parameter (now ``episode_length_s``) is in seconds instead of steps as it was in OmniIsaacGymEnvs. To convert between step count to seconds, use the equation: ``episode_length_s = dt * decimation * num_steps``." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:150 +msgid "The following parameters must be set for each environment config:" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:162 +msgid "RL Config Setup" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:164 +msgid "RL config files for the rl_games library can continue to be defined in ``.yaml`` files in Isaac Lab. Most of the content of the config file can be copied directly from OmniIsaacGymEnvs. Note that in Isaac Lab, we do not use hydra to resolve relative paths in config files. Please replace any relative paths such as ``${....device}`` with the actual values of the parameters." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:169 +msgid "Additionally, the observation and action clip ranges have been moved to the RL config file. For any ``clipObservations`` and ``clipActions`` parameters that were defined in the IsaacGymEnvs task config file, they should be moved to the RL config file in Isaac Lab." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:175 +msgid "IsaacGymEnvs Task Config" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:175 +msgid "Isaac Lab RL Config" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:187 +msgid "Environment Creation" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:189 +msgid "In OmniIsaacGymEnvs, environment creation generally happened in the ``set_up_scene()`` API, which involved creating the initial environment, cloning the environment, filtering collisions, adding the ground plane and lights, and creating the ``View`` classes for the actors." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:193 +msgid "Similar functionality is performed in Isaac Lab in the ``_setup_scene()`` API. The main difference is that the base class ``_setup_scene()`` no longer performs operations for cloning the environment and adding ground plane and lights. Instead, these operations should now be implemented in individual tasks' ``_setup_scene`` implementations to provide more flexibility around the scene setup process." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:199 +msgid "Also note that by defining an ``Articulation`` or ``RigidObject`` object, the actors will be added to the scene by parsing the ``spawn`` parameter in the actor config and a ``View`` class will automatically be created for the actor. This avoids the need to separately define an ``ArticulationView`` or ``RigidPrimView`` object for the actors." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:206 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:332 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:348 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:436 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:478 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:569 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:622 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:661 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:699 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:756 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:810 +msgid "OmniIsaacGymEnvs" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:206 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:332 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:348 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:436 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:478 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:569 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:622 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:699 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:756 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:810 +msgid "Isaac Lab" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:226 +msgid "Ground Plane" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:228 +msgid "In addition to the above example, more sophisticated ground planes can be defined using the :class:`~terrains.TerrainImporterCfg` class." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:247 +msgid "The terrain can then be added to the scene in ``_setup_scene(self)`` by referencing the ``TerrainImporterCfg`` object:" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:259 +msgid "Actors" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:261 +msgid "In Isaac Lab, each Articulation and Rigid Body actor can have its own config class. The :class:`~omni.isaac.lab.assets.ArticulationCfg` class can be used to define parameters for articulation actors, including file path, simulation parameters, actuator properties, and initial states." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:305 +msgid "Within the :class:`~assets.ArticulationCfg`, the ``spawn`` attribute can be used to add the robot to the scene by specifying the path to the robot file. In addition, the :class:`~omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg` class can be used to specify simulation properties for the rigid bodies in the articulation. Similarly, the :class:`~omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg` class can be used to specify simulation properties for the articulation. The joint properties are now specified as part of the ``actuators`` dictionary using :class:`~actuators.ImplicitActuatorCfg`. Joints with the same properties can be grouped into regex expressions or provided as a list of names or expressions." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:313 +msgid "Actors are added to the scene by simply calling ``self.cartpole = Articulation(self.cfg.robot_cfg)``, where ``self.cfg.robot_cfg`` is an :class:`~assets.ArticulationCfg` object. Once initialized, they should also be added to the :class:`~scene.InteractiveScene` by calling ``self.scene.articulations[\"cartpole\"] = self.cartpole`` so that the :class:`~scene.InteractiveScene` can traverse through actors in the scene for writing values to the simulation and resetting." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:321 +msgid "Accessing States from Simulation" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:323 +msgid "APIs for accessing physics states in Isaac Lab require the creation of an :class:`~assets.Articulation` or :class:`~assets.RigidObject` object. Multiple objects can be initialized for different articulations or rigid bodies in the scene by defining corresponding :class:`~assets.ArticulationCfg` or :class:`~assets.RigidObjectCfg` config, as outlined in the section above. This replaces the previously used :class:`~omni.isaac.core.articulations.ArticulationView` and :class:`omni.isaac.core.prims.RigidPrimView` classes used in OmniIsaacGymEnvs." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:329 +msgid "However, functionality between the classes are similar:" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:340 +msgid "In Isaac Lab, :class:`~assets.Articulation` and :class:`~assets.RigidObject` classes both have a ``data`` class. The data classes (:class:`~assets.ArticulationData` and :class:`~assets.RigidObjectData`) contain buffers that hold the states for the articulation and rigid objects and provide a more performant way of retrieving states from the actors." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:345 +msgid "Apart from some renamings of APIs, setting states for actors can also be performed similarly between OmniIsaacGymEnvs and Isaac Lab." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:357 +msgid "In Isaac Lab, ``root_pose`` and ``root_velocity`` have been combined into single buffers and no longer split between ``root_position``, ``root_orientation``, ``root_linear_velocity`` and ``root_angular_velocity``." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:367 +msgid "Creating a New Environment" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:369 +msgid "Each environment in Isaac Lab should be in its own directory following this structure:" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:380 +msgid "``my_environment`` is the root directory of the task." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:381 +msgid "``my_environment/agents`` is the directory containing all RL config files for the task. Isaac Lab supports multiple RL libraries that can each have its own individual config file." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:383 +msgid "``my_environment/__init__.py`` is the main file that registers the environment with the Gymnasium interface. This allows the training and inferencing scripts to find the task by its name. The content of this file should be as follow:" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:408 +msgid "``my_environment/my_env.py`` is the main python script that implements the task logic and task config class for the environment." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:413 +msgid "Task Logic" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:415 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:564 +msgid "The ``post_reset`` API in OmniIsaacGymEnvs is no longer required in Isaac Lab. Everything that was previously done in ``post_reset`` can be done in the ``__init__`` method after executing the base class's ``__init__``. At this point, simulation has already started." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:419 +msgid "In OmniIsaacGymEnvs, due to limitations of the GPU APIs, resets could not be performed based on states of the current step. Instead, resets have to be performed at the beginning of the next time step. This restriction has been eliminated in Isaac Lab, and thus, tasks follow the correct workflow of applying actions, stepping simulation, collecting states, computing dones, calculating rewards, performing resets, and finally computing observations. This workflow is done automatically by the framework such that a ``post_physics_step`` API is not required in the task. However, individual tasks can override the ``step()`` API to control the workflow." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:426 +msgid "In Isaac Lab, we also separate the ``pre_physics_step`` API for processing actions from the policy with the ``apply_action`` API, which sets the actions into the simulation. This provides more flexibility in controlling when actions should be written to simulation when ``decimation`` is used. The ``pre_physics_step`` method will be called once per step before stepping simulation. The ``apply_actions`` method will be called ``decimation`` number of times for each RL step, once before each simulation step call." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:433 +msgid "The ordering of the calls are as follow:" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:451 +msgid "With this approach, resets are performed based on actions from the current step instead of the previous step. Observations will also be computed with the correct states after resets." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:454 +msgid "We have also performed some renamings of APIs:" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:456 +msgid "``set_up_scene(self, scene)`` --> ``_setup_scene(self)``" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:457 +msgid "``post_reset(self)`` --> ``__init__(...)``" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:458 +msgid "``pre_physics_step(self, actions)`` --> ``_pre_physics_step(self, actions)`` and ``_apply_action(self)``" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:459 +msgid "``reset_idx(self, env_ids)`` --> ``_reset_idx(self, env_ids)``" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:460 +msgid "``get_observations(self)`` --> ``_get_observations(self)`` - ``_get_observations()`` should now return a dictionary ``{\"policy\": obs}``" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:461 +msgid "``calculate_metrics(self)`` --> ``_get_rewards(self)`` - ``_get_rewards()`` should now return the reward buffer" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:462 +msgid "``is_done(self)`` --> ``_get_dones(self)`` - ``_get_dones()`` should now return 2 buffers: ``reset`` and ``time_out`` buffers" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:467 +msgid "Putting It All Together" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:469 +msgid "The Cartpole environment is shown here in completion to fully show the comparison between the OmniIsaacGymEnvs implementation and the Isaac Lab implementation." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:475 +msgid "Task config in Isaac Lab can be split into the main task configuration class and individual config objects for the actors." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:562 +msgid "Task Setup" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:614 +msgid "Scene Setup" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:616 +msgid "The ``set_up_scene`` method in OmniIsaacGymEnvs has been replaced by the ``_setup_scene`` API in the task class in Isaac Lab. Additionally, scene cloning and collision filtering have been provided as APIs for the task class to call when necessary. Similarly, adding ground plane and lights should also be taken care of in the task class. Adding actors to the scene has been replaced by ``self.scene.articulations[\"cartpole\"] = self.cartpole``." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:654 +msgid "Pre-Physics Step" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:656 +msgid "Note that resets are no longer performed in the ``pre_physics_step`` API. In addition, the separation of the ``_pre_physics_step`` and ``_apply_action`` methods allow for more flexibility in processing the action buffer and setting actions into simulation." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:661 +msgid "IsaacLab" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:690 +msgid "Dones and Resets" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:692 +msgid "In Isaac Lab, the ``dones`` are computed in the ``_get_dones()`` method and should return two variables: ``resets`` and ``time_out``. The ``_reset_idx()`` method is also called after stepping simulation instead of before, as it was done in OmniIsaacGymEnvs. The ``progress_buf`` tensor has been renamed to ``episode_length_buf`` in Isaac Lab and the bookkeeping is now done automatically by the framework. Task implementations no longer need to increment or reset the ``episode_length_buf`` buffer." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:749 +msgid "Rewards" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:751 +msgid "In Isaac Lab, rewards are implemented in the ``_get_rewards`` API and should return the reward buffer instead of assigning it directly to ``self.rew_buf``. Computation in the reward function can also be performed using pytorch jit through defining functions with the ``@torch.jit.script`` annotation." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:803 +msgid "Observations" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:805 +msgid "In Isaac Lab, the ``_get_observations()`` API must return a dictionary with the key ``policy`` that has the observation buffer as the value. When working with asymmetric actor-critic states, the states for the critic should have the key ``critic`` and be returned with the observation buffer in the same dictionary." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:834 +msgid "Domain Randomization" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:836 +msgid "In OmniIsaacGymEnvs, domain randomization was specified through the task ``.yaml`` config file. In Isaac Lab, the domain randomization configuration uses the :class:`~omni.isaac.lab.utils.configclass` module to specify a configuration class consisting of :class:`~managers.EventTermCfg` variables." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:840 +msgid "Below is an example of a configuration class for domain randomization:" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:880 +msgid "Each ``EventTerm`` object is of the :class:`~managers.EventTermCfg` class and takes in a ``func`` parameter for specifying the function to call during randomization, a ``mode`` parameter, which can be ``startup``, ``reset`` or ``interval``. THe ``params`` dictionary should provide the necessary arguments to the function that is specified in the ``func`` parameter. Functions specified as ``func`` for the ``EventTerm`` can be found in the :class:`~envs.mdp.events` module." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:886 +msgid "Note that as part of the ``\"asset_cfg\": SceneEntityCfg(\"robot\", body_names=\".*\")`` parameter, the name of the actor ``\"robot\"`` is provided, along with the body or joint names specified as a regex expression, which will be the actors and bodies/joints that will have randomization applied." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:890 +msgid "One difference with OmniIsaacGymEnvs is that ``interval`` randomization is now specified as seconds instead of steps. When ``mode=\"interval\"``, the ``interval_range_s`` parameter must also be provided, which specifies the range of seconds for which randomization should be applied. This range will then be randomized to determine a specific time in seconds when the next randomization will occur for the term. To convert between steps to seconds, use the equation ``time_s = num_steps * (decimation * dt)``." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:896 +msgid "Similar to OmniIsaacGymEnvs, randomization APIs are available for randomizing articulation properties, such as joint stiffness and damping, joint limits, rigid body materials, fixed tendon properties, as well as rigid body properties, such as mass and rigid body materials. Randomization of the physics scene gravity is also supported. Note that randomization of scale is current not supported in Isaac Lab. To randomize scale, please set up the scene in a way where each environment holds the actor at a different scale." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:903 +msgid "Once the ``configclass`` for the randomization terms have been set up, the class must be added to the base config class for the task and be assigned to the variable ``events``." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:914 +msgid "Action and Observation Noise" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:916 +msgid "Actions and observation noise can also be added using the :class:`~utils.configclass` module. Action and observation noise configs must be added to the main task config using the ``action_noise_model`` and ``observation_noise_model`` variables:" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:936 +msgid ":class:`~.utils.noise.NoiseModelWithAdditiveBiasCfg` can be used to sample both uncorrelated noise per step as well as correlated noise that is re-sampled at reset time. The ``noise_cfg`` term specifies the Gaussian distribution that will be sampled at each step for all environments. This noise will be added to the corresponding actions and observations buffers at every step. The ``bias_noise_cfg`` term specifies the Gaussian distribution for the correlated noise that will be sampled at reset time for the environments being reset. The same noise will be applied each step for the remaining of the episode for the environments and resampled at the next reset." +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:946 +msgid "This replaces the following setup in OmniIsaacGymEnvs:" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:976 +msgid "Launching Training" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:978 +msgid "To launch a training in Isaac Lab, use the command:" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:985 +msgid "Launching Inferencing" +msgstr "" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:987 +msgid "To launch inferencing in Isaac Lab, use the command:" +msgstr "" diff --git a/docs/_build/gettext/source/migration/migrating_from_orbit.pot b/docs/_build/gettext/source/migration/migrating_from_orbit.pot new file mode 100644 index 0000000000..57056a86fc --- /dev/null +++ b/docs/_build/gettext/source/migration/migrating_from_orbit.pot @@ -0,0 +1,184 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/migration/migrating_from_orbit.rst:4 +msgid "From Orbit" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:8 +msgid "Since `Orbit`_ was used as basis for Isaac Lab, migrating from Orbit to Isaac Lab is straightforward. The following sections describe the changes that need to be made to your code to migrate from Orbit to Isaac Lab." +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:12 +msgid "Renaming of the launch script" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:14 +msgid "The script ``orbit.sh`` has been renamed to ``isaaclab.sh``." +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:18 +msgid "Updates to extensions" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:20 +msgid "The extensions ``omni.isaac.orbit``, ``omni.isaac.orbit_tasks``, and ``omni.isaac.orbit_assets`` have been renamed to ``omni.isaac.lab``, ``omni.isaac.lab_tasks``, and ``omni.isaac.lab_assets``, respectively. Thus, the new folder structure looks like this:" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:24 +msgid "``source/extensions/omni.isaac.lab/omni/isaac/lab``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:25 +msgid "``source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:26 +msgid "``source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:28 +msgid "The high level imports have to be updated as well:" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:31 +#: ../../source/migration/migrating_from_orbit.rst:48 +msgid "Orbit" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:31 +#: ../../source/migration/migrating_from_orbit.rst:48 +msgid "Isaac Lab" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:33 +msgid "``from omni.isaac.orbit...``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:33 +msgid "``from omni.isaac.lab...``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:35 +msgid "``from omni.isaac.orbit_tasks...``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:35 +msgid "``from omni.isaac.lab_tasks...``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:37 +msgid "``from omni.isaac.orbit_assets...``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:37 +msgid "``from omni.isaac.lab_assets...``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:42 +msgid "Updates to class names" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:44 +msgid "In Isaac Lab, we introduced the concept of task design workflows (see :ref:`feature-workflows`). The Orbit code is using the manager-based workflow and the environment specific class names have been updated to reflect this change:" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:50 +msgid "``BaseEnv``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:50 +msgid ":class:`omni.isaac.lab.envs.ManagerBasedEnv`" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:52 +msgid "``BaseEnvCfg``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:52 +msgid ":class:`omni.isaac.lab.envs.ManagerBasedEnvCfg`" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:54 +msgid "``RLTaskEnv``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:54 +msgid ":class:`omni.isaac.lab.envs.ManagerBasedRLEnv`" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:56 +msgid "``RLTaskEnvCfg``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:56 +msgid ":class:`omni.isaac.lab.envs.ManagerBasedRLEnvCfg`" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:58 +msgid "``RLTaskEnvWindow``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:58 +msgid ":class:`omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow`" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:63 +msgid "Updates to the tasks folder structure" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:65 +msgid "To support the manager-based and direct workflows, we have added two folders in the tasks extension:" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:67 +msgid "``source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:68 +msgid "``source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct``" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:70 +msgid "The tasks from Orbit can now be found under the ``manager_based`` folder. This change must also be reflected in the imports for your tasks. For example," +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:77 +#: ../../source/migration/migrating_from_orbit.rst:115 +msgid "should now be:" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:85 +msgid "Other Breaking changes" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:88 +msgid "Offscreen rendering" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:90 +msgid "The input argument ``--offscreen_render`` given to :class:`omni.isaac.lab.app.AppLauncher` and the environment variable ``OFFSCREEN_RENDER`` have been renamed to ``--enable_cameras`` and ``ENABLE_CAMERAS`` respectively." +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:95 +msgid "Event term distribution configuration" +msgstr "" + +#: ../../source/migration/migrating_from_orbit.rst:97 +msgid "Some of the event functions in `events.py `_ accepted a ``distribution`` parameter and a ``range`` to sample from. In an effort to support arbitrary distributions, we have renamed the input argument ``AAA_range`` to ``AAA_distribution_params`` for these functions. Therefore, event term configurations whose functions have a ``distribution`` argument should be updated. For example," +msgstr "" diff --git a/docs/_build/gettext/source/refs/bibliography.pot b/docs/_build/gettext/source/refs/bibliography.pot new file mode 100644 index 0000000000..f1921e2090 --- /dev/null +++ b/docs/_build/gettext/source/refs/bibliography.pot @@ -0,0 +1,21 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/refs/bibliography.rst:2 +msgid "Bibliography" +msgstr "" diff --git a/docs/_build/gettext/source/refs/changelog.pot b/docs/_build/gettext/source/refs/changelog.pot new file mode 100644 index 0000000000..ed4767106b --- /dev/null +++ b/docs/_build/gettext/source/refs/changelog.pot @@ -0,0 +1,3040 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 12:43+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/refs/changelog.rst:2 +msgid "Extensions Changelog" +msgstr "" + +#: ../../source/refs/changelog.rst:4 +msgid "All notable changes to this project are documented in this file. The format is based on `Keep a Changelog `__ and this project adheres to `Semantic Versioning `__. For a broader information about the changes in the framework, please refer to the `release notes `__." +msgstr "" + +#: ../../source/refs/changelog.rst:10 +msgid "Each extension has its own changelog. The changelog for each extension is located in the ``docs`` directory of the extension. The changelog for each extension is also included in this changelog to make it easier to find the changelog for a specific extension." +msgstr "" + +#: ../../source/refs/changelog.rst:15 +msgid "omni.isaac.lab" +msgstr "" + +#: ../../source/refs/changelog.rst:17 +msgid "Extension containing the core framework of Isaac Lab." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2 +msgid "0.18.6 (2024-07-01)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:5 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:16 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:28 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:44 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:90 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:106 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:132 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:143 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:164 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:216 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:233 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:252 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:296 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:335 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:393 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:403 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:415 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:466 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:482 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:497 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:508 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:519 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:553 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:590 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:617 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:630 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:648 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:676 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:700 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:776 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:798 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:807 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:817 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:838 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:847 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:858 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:879 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:889 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:899 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:908 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:929 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:942 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:953 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:963 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:973 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:991 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1002 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1014 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1030 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1042 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1089 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1099 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1145 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1203 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1212 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1223 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1255 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1267 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1280 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1289 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1305 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1332 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1344 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1355 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1365 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1375 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1407 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1419 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1448 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1497 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1513 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1525 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1537 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1599 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1615 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1635 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1645 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1655 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1703 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1714 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1725 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1741 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1776 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1792 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1820 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1889 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1953 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1972 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2021 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2070 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2080 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2098 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2152 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2172 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2211 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2279 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2294 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2305 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2319 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2329 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2354 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2370 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2384 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2393 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2407 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2425 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:14 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:143 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:153 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:162 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:171 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:194 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:204 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:215 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:238 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:267 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:293 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:309 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:350 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:360 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:368 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:383 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:410 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:419 +msgid "Fixed" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:7 +msgid "Fixed the environment stepping logic. Earlier, the environments' rendering logic was updating the kit app which would in turn step the physics :attr:`omni.isaac.lab.sim.SimulationCfg.render_interval` times. Now, a render call only does rendering and does not step the physics." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:13 +msgid "0.18.5 (2024-06-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:18 +msgid "Fixed the gravity vector direction used inside the :class:`omni.isaac.lab.assets.RigidObjectData`class. Earlier, the gravity direction was hard-coded as (0, 0, -1) which may be different from the actual gravity direction in the simulation. Now, the gravity direction is obtained from the simulation context and used to compute the projection of the gravity vector on the object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:25 +msgid "0.18.4 (2024-06-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:30 +msgid "Fixed double reference count of the physics sim view inside the asset classes. This was causing issues when destroying the asset class instance since the physics sim view was not being properly released." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:34 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:51 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:116 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:154 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:173 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:182 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:239 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:278 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:317 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:327 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:386 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:426 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:437 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:449 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:472 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:492 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:542 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:583 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:641 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:658 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:668 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:711 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:721 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:743 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:754 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:765 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:786 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:828 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:869 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:984 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1024 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1053 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1070 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1123 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1139 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1163 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1174 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1191 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1235 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1245 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1320 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1396 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1461 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1471 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1507 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1551 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1560 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1580 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1594 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1609 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1627 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1667 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1678 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1696 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1732 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1762 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1786 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1813 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1830 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1856 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1881 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1899 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1921 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1942 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1963 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1987 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2027 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2037 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2091 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2108 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2118 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2141 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2157 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2166 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2192 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2229 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2246 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2269 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2288 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2310 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2338 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2363 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2416 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2434 +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:5 +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:14 +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:23 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:5 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:43 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:52 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:64 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:81 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:89 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:99 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:116 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:127 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:137 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:182 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:303 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:329 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:376 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:401 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:428 +msgid "Added" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:36 +msgid "Added the attribute :attr:`~omni.isaac.lab.assets.AssetBase.is_initialized` to check if the asset and sensor has been initialized properly. This can be used to ensure that the asset or sensor is ready to use in the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:41 +msgid "0.18.3 (2024-06-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:46 +msgid "Fixed the docstrings at multiple places related to the different buffer implementations inside the :mod:`omni.isaac.lab.utils.buffers` module. The docstrings were not clear and did not provide enough information about the classes and their methods." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:53 +msgid "Added the field for fixed tendom names in the :class:`omni.isaac.lab.assets.ArticulationData` class. Earlier, this information was not exposed which was inconsistent with other name related information such as joint or body names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:58 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:69 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:79 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:96 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:121 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:191 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:201 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:226 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:262 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:287 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:307 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:365 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:375 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:456 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:683 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1063 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1116 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1132 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1157 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1295 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1315 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1386 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1431 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1442 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1485 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1569 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1685 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1751 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1801 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1844 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1865 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1911 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1932 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1977 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1998 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2009 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2045 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2063 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2128 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2179 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2200 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2219 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2236 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2260 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2344 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:25 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:34 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:73 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:108 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:222 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:233 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:248 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:259 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:276 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:286 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:319 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:338 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:391 +msgid "Changed" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:60 +msgid "Renamed the fields ``min_num_time_lags`` and ``max_num_time_lags`` to ``min_delay`` and ``max_delay`` in the :class:`omni.isaac.lab.actuators.DelayedPDActuatorCfg` class. This is to make the naming simpler to understand." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:66 +msgid "0.18.2 (2024-06-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:71 +msgid "Moved the configuration for tile-rendered camera into its own file named ``tiled_camera_cfg.py``. This makes it easier to follow where the configuration is located and how it is related to the class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:76 +msgid "0.18.1 (2024-06-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:81 +msgid "Ensured that a parity between class and its configuration class is explicitly visible in the :mod:`omni.isaac.lab.envs` module. This makes it easier to follow where definitions are located and how they are related. This should not be a breaking change as the classes are still accessible through the same module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:87 +msgid "0.18.0 (2024-06-13)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:92 +msgid "Fixed the rendering logic to render at the specified interval. Earlier, the substep parameter had no effect and rendering would happen once every env.step() when active." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:98 +msgid "Renamed :attr:`omni.isaac.lab.sim.SimulationCfg.substeps` to :attr:`omni.isaac.lab.sim.SimulationCfg.render_interval`. The render logic is now integrated in the decimation loop of the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:103 +msgid "0.17.13 (2024-06-13)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:108 +msgid "Fixed the orientation reset logic in :func:`omni.isaac.lab.envs.mdp.events.reset_root_state_uniform` to make it relative to the default orientation. Earlier, the position was sampled relative to the default and the orientation not." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:113 +msgid "0.17.12 (2024-06-13)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:118 +msgid "Added the class :class:`omni.isaac.lab.utils.buffers.TimestampedBuffer` to store timestamped data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:123 +msgid "Added time-stamped buffers in the classes :class:`omni.isaac.lab.assets.RigidObjectData` and :class:`omni.isaac.lab.assets.ArticulationData` to update some values lazily and avoid unnecessary computations between physics updates. Before, all the data was always updated at every step, even if it was not used by the task." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:129 +msgid "0.17.11 (2024-05-30)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:134 +msgid "Fixed :class:`omni.isaac.lab.sensor.ContactSensor` not loading correctly in extension mode. Earlier, the :attr:`omni.isaac.lab.sensor.ContactSensor.body_physx_view` was not initialized when :meth:`omni.isaac.lab.sensor.ContactSensor._debug_vis_callback` is called which references it." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:140 +msgid "0.17.10 (2024-05-30)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:145 +msgid "Fixed compound classes being directly assigned in ``default_factory`` generator method :meth:`omni.isaac.lab.utils.configclass._return_f`, which resulted in shared references such that modifications to compound objects were reflected across all instances generated from the same ``default_factory`` method." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:151 +msgid "0.17.9 (2024-05-30)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:156 +msgid "Added ``variants`` attribute to the :class:`omni.isaac.lab.sim.from_files.UsdFileCfg` class to select USD variants when loading assets from USD files." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:161 +msgid "0.17.8 (2024-05-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:166 +msgid "Implemented the reset methods in the action terms to avoid returning outdated data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:170 +msgid "0.17.7 (2024-05-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:175 +msgid "Added debug visualization utilities in the :class:`omni.isaac.lab.managers.ActionManager` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:179 +msgid "0.17.6 (2024-05-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:184 +msgid "Added ``wp.init()`` call in Warp utils." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:188 +msgid "0.17.5 (2024-05-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:193 +msgid "Websocket livestreaming is no longer supported. Valid livestream options are {0, 1, 2}." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:194 +msgid "WebRTC livestream is now set with livestream=2." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:198 +msgid "0.17.4 (2024-05-17)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:203 +msgid "Modified the noise functions to also support add, scale, and abs operations on the data. Added aliases to ensure backward compatibility with the previous functions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:206 +msgid "Added :attr:`omni.isaac.lab.utils.noise.NoiseCfg.operation` for the different operations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:207 +msgid "Renamed ``constant_bias_noise`` to :func:`omni.isaac.lab.utils.noise.constant_noise`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:208 +msgid "Renamed ``additive_uniform_noise`` to :func:`omni.isaac.lab.utils.noise.uniform_noise`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:209 +msgid "Renamed ``additive_gaussian_noise`` to :func:`omni.isaac.lab.utils.noise.gaussian_noise`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:213 +msgid "0.17.3 (2024-05-15)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:218 +msgid "Set ``hide_ui`` flag in the app launcher for livestream." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:219 +msgid "Fix native client livestream extensions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:223 +msgid "0.17.2 (2024-05-09)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:228 +msgid "Renamed ``_range`` to ``distribution_params`` in ``events.py`` for methods that defined a distribution." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:229 +msgid "Apply additive/scaling randomization noise on default data instead of current data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:230 +msgid "Changed material bucketing logic to prevent exceeding 64k materials." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:235 +msgid "Fixed broadcasting issues with indexing when environment and joint IDs are provided." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:236 +msgid "Fixed incorrect tensor dimensions when setting a subset of environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:241 +msgid "Added support for randomization of fixed tendon parameters." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:242 +msgid "Added support for randomization of dof limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:243 +msgid "Added support for randomization of gravity." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:244 +msgid "Added support for Gaussian sampling." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:245 +msgid "Added default buffers to Articulation/Rigid object data classes for randomization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:249 +msgid "0.17.1 (2024-05-10)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:254 +msgid "Added attribute :attr:`omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics` to properly parse joint dynamics in :class:`omni.isaac.lab.sim.converters.UrdfConverter`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:259 +msgid "0.17.0 (2024-05-07)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:264 +msgid "Renamed ``BaseEnv`` to :class:`omni.isaac.lab.envs.ManagerBasedEnv`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:265 +msgid "Renamed ``base_env.py`` to ``manager_based_env.py``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:266 +msgid "Renamed ``BaseEnvCfg`` to :class:`omni.isaac.lab.envs.ManagerBasedEnvCfg`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:267 +msgid "Renamed ``RLTaskEnv`` to :class:`omni.isaac.lab.envs.ManagerBasedRLEnv`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:268 +msgid "Renamed ``rl_task_env.py`` to ``manager_based_rl_env.py``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:269 +msgid "Renamed ``RLTaskEnvCfg`` to :class:`omni.isaac.lab.envs.ManagerBasedRLEnvCfg`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:270 +msgid "Renamed ``rl_task_env_cfg.py`` to ``rl_env_cfg.py``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:271 +msgid "Renamed ``OIGEEnv`` to :class:`omni.isaac.lab.envs.DirectRLEnv`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:272 +msgid "Renamed ``oige_env.py`` to ``direct_rl_env.py``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:273 +msgid "Renamed ``RLTaskEnvWindow`` to :class:`omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:274 +msgid "Renamed ``rl_task_env_window.py`` to ``manager_based_rl_env_window.py``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:275 +msgid "Renamed all references of ``BaseEnv``, ``BaseEnvCfg``, ``RLTaskEnv``, ``RLTaskEnvCfg``, ``OIGEEnv``, and ``RLTaskEnvWindow``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:280 +msgid "Added direct workflow base class :class:`omni.isaac.lab.envs.DirectRLEnv`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:284 +msgid "0.16.4 (2024-05-06)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:289 +msgid "Added :class:`omni.isaac.lab.sensors.TiledCamera` to support tiled rendering with RGB and depth." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:293 +msgid "0.16.3 (2024-04-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:298 +msgid "Fixed parsing of filter prim path expressions in the :class:`omni.isaac.lab.sensors.ContactSensor` class. Earlier, the filter prim paths given to the physics view was not being parsed since they were specified as regex expressions instead of glob expressions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:304 +msgid "0.16.2 (2024-04-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:309 +msgid "Simplified the installation procedure, isaaclab -e is no longer needed" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:310 +msgid "Updated torch dependency to 2.2.2" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:314 +msgid "0.16.1 (2024-04-20)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:319 +msgid "Added attribute :attr:`omni.isaac.lab.sim.ArticulationRootPropertiesCfg.fix_root_link` to fix the root link of an articulation to the world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:324 +msgid "0.16.0 (2024-04-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:329 +msgid "Added the function :meth:`omni.isaac.lab.utils.math.quat_unique` to standardize quaternion representations, i.e. always have a non-negative real part." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:331 +msgid "Added events terms for randomizing mass by scale, simulation joint properties (stiffness, damping, armature, and friction)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:337 +msgid "Added clamping of joint positions and velocities in event terms for resetting joints. The simulation does not throw an error if the set values are out of their range. Hence, users are expected to clamp them before setting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:339 +msgid "Fixed :class:`omni.isaac.lab.envs.mdp.EMAJointPositionToLimitsActionCfg` to smoothen the actions at environment frequency instead of simulation frequency." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:342 +msgid "Renamed the following functions in :meth:`omni.isaac.lab.envs.mdp` to avoid confusions:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:344 +msgid "Observation: :meth:`joint_pos_norm` -> :meth:`joint_pos_limit_normalized`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:345 +msgid "Action: :class:`ExponentialMovingAverageJointPositionAction` -> :class:`EMAJointPositionToLimitsAction`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:346 +msgid "Termination: :meth:`base_height` -> :meth:`root_height_below_minimum`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:347 +msgid "Termination: :meth:`joint_pos_limit` -> :meth:`joint_pos_out_of_limit`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:348 +msgid "Termination: :meth:`joint_pos_manual_limit` -> :meth:`joint_pos_out_of_manual_limit`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:349 +msgid "Termination: :meth:`joint_vel_limit` -> :meth:`joint_vel_out_of_limit`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:350 +msgid "Termination: :meth:`joint_vel_manual_limit` -> :meth:`joint_vel_out_of_manual_limit`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:351 +msgid "Termination: :meth:`joint_torque_limit` -> :meth:`joint_effort_out_of_limit`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:354 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:530 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:915 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1871 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2052 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2398 +msgid "Deprecated" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:356 +msgid "Deprecated the function :meth:`omni.isaac.lab.envs.mdp.add_body_mass` in favor of :meth:`omni.isaac.lab.envs.mdp.randomize_rigid_body_mass`. This supports randomizing the mass based on different operations (add, scale, or set) and sampling distributions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:362 +msgid "0.15.13 (2024-04-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:367 +msgid "Improved startup performance by enabling rendering-based extensions only when necessary and caching of nucleus directory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:368 +msgid "Renamed the flag ``OFFSCREEN_RENDER`` or ``--offscreen_render`` to ``ENABLE_CAMERAS`` or ``--enable_cameras`` respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:372 +msgid "0.15.12 (2024-04-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:377 +msgid "Replaced calls to the ``check_file_path`` function in the :mod:`omni.isaac.lab.sim.spawners.from_files` with the USD stage resolve identifier function. This helps speed up the loading of assets from file paths by avoiding Nucleus server calls." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:383 +msgid "0.15.11 (2024-04-15)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:388 +msgid "Added the :meth:`omni.isaac.lab.sim.SimulationContext.has_rtx_sensors` method to check if any RTX-related sensors such as cameras have been created in the simulation. This is useful to determine if simulation requires RTX rendering during step or not." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:395 +msgid "Fixed the rendering of RTX-related sensors such as cameras inside the :class:`omni.isaac.lab.envs.RLTaskEnv` class. Earlier the rendering did not happen inside the step function, which caused the sensor data to be empty." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:400 +msgid "0.15.10 (2024-04-11)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:405 +msgid "Fixed sharing of the same memory address between returned tensors from observation terms in the :class:`omni.isaac.lab.managers.ObservationManager` class. Earlier, the returned tensors could map to the same memory address, causing issues when the tensors were modified during scaling, clipping or other operations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:412 +msgid "0.15.9 (2024-04-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:417 +msgid "Fixed assignment of individual termination terms inside the :class:`omni.isaac.lab.managers.TerminationManager` class. Earlier, the terms were being assigned their values through an OR operation which resulted in incorrect values. This regression was introduced in version 0.15.1." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:423 +msgid "0.15.8 (2024-04-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:428 +msgid "Added option to define ordering of points for the mesh-grid generation in the :func:`omni.isaac.lab.sensors.ray_caster.patterns.grid_pattern`. This parameter defaults to 'xy' for backward compatibility." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:434 +msgid "0.15.7 (2024-03-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:439 +msgid "Adds option to return indices/data in the specified query keys order in :class:`omni.isaac.lab.managers.SceneEntityCfg` class, and the respective :func:`omni.isaac.lab.utils.string.resolve_matching_names_values` and :func:`omni.isaac.lab.utils.string.resolve_matching_names` functions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:446 +msgid "0.15.6 (2024-03-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:451 +msgid "Extended the :class:`omni.isaac.lab.app.AppLauncher` class to support the loading of experience files from the command line. This allows users to load a specific experience file when running the application (such as for multi-camera rendering or headless mode)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:458 +msgid "Changed default loading of experience files in the :class:`omni.isaac.lab.app.AppLauncher` class from the ones provided by Isaac Sim to the ones provided in Isaac Lab's ``source/apps`` directory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:463 +msgid "0.15.5 (2024-03-23)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:468 +msgid "Fixed the env origins in :meth:`_compute_env_origins_grid` of :class:`omni.isaac.lab.terrain.TerrainImporter` to match that obtained from the Isaac Sim :class:`omni.isaac.cloner.GridCloner` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:474 +msgid "Added unit test to ensure consistency between environment origins generated by IsaacSim's Grid Cloner and those produced by the TerrainImporter." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:479 +msgid "0.15.4 (2024-03-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:484 +msgid "Fixed the :class:`omni.isaac.lab.envs.mdp.actions.NonHolonomicActionCfg` class to use the correct variable when applying actions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:489 +msgid "0.15.3 (2024-03-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:494 +msgid "Added unit test to check that :class:`omni.isaac.lab.scene.InteractiveScene` entity data is not shared between separate instances." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:499 +msgid "Moved class variables in :class:`omni.isaac.lab.scene.InteractiveScene` to correctly be assigned as instance variables." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:501 +msgid "Removed custom ``__del__`` magic method from :class:`omni.isaac.lab.scene.InteractiveScene`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:505 +msgid "0.15.2 (2024-03-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:510 +msgid "Added resolving of relative paths for the main asset USD file when using the :class:`omni.isaac.lab.sim.converters.UrdfConverter` class. This is to ensure that the material paths are resolved correctly when the main asset file is moved to a different location." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:516 +msgid "0.15.1 (2024-03-19)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:521 +msgid "Fixed the imitation learning workflow example script, updating Isaac Lab and Robomimic API calls." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:522 +msgid "Removed the resetting of :attr:`_term_dones` in the :meth:`omni.isaac.lab.managers.TerminationManager.reset`. Previously, the environment cleared out all the terms. However, it impaired reading the specific term's values externally." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:527 +msgid "0.15.0 (2024-03-17)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:532 +msgid "Renamed :class:`omni.isaac.lab.managers.RandomizationManager` to :class:`omni.isaac.lab.managers.EventManager` class for clarification as the manager takes care of events such as reset in addition to pure randomizations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:534 +msgid "Renamed :class:`omni.isaac.lab.managers.RandomizationTermCfg` to :class:`omni.isaac.lab.managers.EventTermCfg` for consistency with the class name change." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:539 +msgid "0.14.1 (2024-03-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:544 +msgid "Added simulation schemas for joint drive and fixed tendons. These can be configured for assets imported from file formats." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:546 +msgid "Added logging of tendon properties to the articulation class (if they are present in the USD prim)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:550 +msgid "0.14.0 (2024-03-15)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:555 +msgid "Fixed the ordering of body names used in the :class:`omni.isaac.lab.assets.Articulation` class. Earlier, the body names were not following the same ordering as the bodies in the articulation. This led to issues when using the body names to access data related to the links from the articulation view (such as Jacobians, mass matrices, etc.)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:561 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:572 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:600 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:690 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:732 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1078 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1181 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2375 +msgid "Removed" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:563 +msgid "Removed the attribute :attr:`body_physx_view` from the :class:`omni.isaac.lab.assets.RigidObject` and :class:`omni.isaac.lab.assets.Articulation` classes. These were causing confusions when used with articulation view since the body names were not following the same ordering." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:569 +msgid "0.13.1 (2024-03-14)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:574 +msgid "Removed the :mod:`omni.isaac.lab.compat` module. This module was used to provide compatibility with older versions of Isaac Sim. It is no longer needed since we have most of the functionality absorbed into the main classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:580 +msgid "0.13.0 (2024-03-12)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:585 +msgid "Added support for the following data types inside the :class:`omni.isaac.lab.sensors.Camera` class: ``instance_segmentation_fast`` and ``instance_id_segmentation_fast``. These are GPU-supported annotations and are faster than the regular annotations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:592 +msgid "Fixed handling of semantic filtering inside the :class:`omni.isaac.lab.sensors.Camera` class. Earlier, the annotator was given ``semanticTypes`` as an argument. However, with Isaac Sim 2023.1, the annotator does not accept this argument. Instead the mapping needs to be set to the synthetic data interface directly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:595 +msgid "Fixed the return shape of colored images for segmentation data types inside the :class:`omni.isaac.lab.sensors.Camera` class. Earlier, the images were always returned as ``int32``. Now, they are casted to ``uint8`` 4-channel array before returning if colorization is enabled for the annotation type." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:602 +msgid "Dropped support for ``instance_segmentation`` and ``instance_id_segmentation`` annotations in the :class:`omni.isaac.lab.sensors.Camera` class. Their \"fast\" counterparts should be used instead." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:604 +msgid "Renamed the argument :attr:`omni.isaac.lab.sensors.CameraCfg.semantic_types` to :attr:`omni.isaac.lab.sensors.CameraCfg.semantic_filter`. This is more aligned with Replicator's terminology for semantic filter predicates." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:607 +msgid "Replaced the argument :attr:`omni.isaac.lab.sensors.CameraCfg.colorize` with separate colorized arguments for each annotation type (:attr:`~omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation`, :attr:`~omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation`, and :attr:`~omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation`)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:614 +msgid "0.12.4 (2024-03-11)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:620 +msgid "Adapted randomization terms to deal with ``slice`` for the body indices. Earlier, the terms were not able to handle the slice object and were throwing an error." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:622 +msgid "Added ``slice`` type-hinting to all body and joint related methods in the rigid body and articulation classes. This is to make it clear that the methods can handle both list of indices and slices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:627 +msgid "0.12.3 (2024-03-11)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:632 +msgid "Added signal handler to the :class:`omni.isaac.lab.app.AppLauncher` class to catch the ``SIGINT`` signal and close the application gracefully. This is to prevent the application from crashing when the user presses ``Ctrl+C`` to close the application." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:638 +msgid "0.12.2 (2024-03-10)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:643 +msgid "Added observation terms for states of a rigid object in world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:644 +msgid "Added randomization terms to set root state with randomized orientation and joint state within user-specified limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:645 +msgid "Added reward term for penalizing specific termination terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:650 +msgid "Improved sampling of states inside randomization terms. Earlier, the code did multiple torch calls for sampling different components of the vector. Now, it uses a single call to sample the entire vector." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:655 +msgid "0.12.1 (2024-03-09)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:660 +msgid "Added an option to the last actions observation term to get a specific term by name from the action manager. If None, the behavior remains the same as before (the entire action is returned)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:665 +msgid "0.12.0 (2024-03-08)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:670 +msgid "Added functionality to sample flat patches on a generated terrain. This can be configured using :attr:`omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling` attribute." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:672 +msgid "Added a randomization function for setting terrain-aware root state. Through this, an asset can be reset to a randomly sampled flat patches." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:678 +msgid "Separated normal and terrain-base position commands. The terrain based commands rely on the terrain to sample flat patches for setting the target position." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:680 +msgid "Fixed command resample termination function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:685 +msgid "Added the attribute :attr:`omni.isaac.lab.envs.mdp.commands.UniformVelocityCommandCfg.heading_control_stiffness` to control the stiffness of the heading control term in the velocity command term. Earlier, this was hard-coded to 0.5 inside the term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:692 +msgid "Removed the function :meth:`sample_new_targets` in the terrain importer. Instead the attribute :attr:`omni.isaac.lab.terrains.TerrainImporter.flat_patches` should be used to sample new targets." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:697 +msgid "0.11.3 (2024-03-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:702 +msgid "Corrects the functions :func:`omni.isaac.lab.utils.math.axis_angle_from_quat` and :func:`omni.isaac.lab.utils.math.quat_error_magnitude` to accept tensors of the form (..., 4) instead of (N, 4). This brings us in line with our documentation and also upgrades one of our functions to handle higher dimensions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:708 +msgid "0.11.2 (2024-03-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:713 +msgid "Added checks for default joint position and joint velocity in the articulation class. This is to prevent users from configuring values for these quantities that might be outside the valid range from the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:718 +msgid "0.11.1 (2024-02-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:723 +msgid "Replaced the default values for ``joint_ids`` and ``body_ids`` from ``None`` to ``slice(None)`` in the :class:`omni.isaac.lab.managers.SceneEntityCfg`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:725 +msgid "Adapted rewards and observations terms so that the users can query a subset of joints and bodies." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:729 +msgid "0.11.0 (2024-02-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:734 +msgid "Dropped support for Isaac Sim<=2022.2. As part of this, removed the components of :class:`omni.isaac.lab.app.AppLauncher` which handled ROS extension loading. We no longer need them in Isaac Sim>=2023.1 to control the load order to avoid crashes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:736 +msgid "Upgraded Dockerfile to use ISAACSIM_VERSION=2023.1.1 by default." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:740 +msgid "0.10.28 (2024-02-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:745 +msgid "Implemented relative and moving average joint position action terms. These allow the user to specify the target joint positions as relative to the current joint positions or as a moving average of the joint positions over a window of time." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:751 +msgid "0.10.27 (2024-02-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:756 +msgid "Added UI feature to start and stop animation recording in the stage when running an environment. To enable this feature, please pass the argument ``--disable_fabric`` to the environment script to allow USD read/write operations. Be aware that this will slow down the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:762 +msgid "0.10.26 (2024-02-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:767 +msgid "Added a viewport camera controller class to the :class:`omni.isaac.lab.envs.BaseEnv`. This is useful for applications where the user wants to render the viewport from different perspectives even when the simulation is running in headless mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:773 +msgid "0.10.25 (2024-02-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:778 +msgid "Ensures that all path arguments in :mod:`omni.isaac.lab.sim.utils` are cast to ``str``. Previously, we had handled path types as strings without casting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:783 +msgid "0.10.24 (2024-02-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:788 +msgid "Added tracking of contact time in the :class:`omni.isaac.lab.sensors.ContactSensor` class. Previously, only the air time was being tracked." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:790 +msgid "Added contact force threshold, :attr:`omni.isaac.lab.sensors.ContactSensorCfg.force_threshold`, to detect when the contact sensor is in contact. Previously, this was set to hard-coded 1.0 in the sensor class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:795 +msgid "0.10.23 (2024-02-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:800 +msgid "Fixes the order of size arguments in :meth:`omni.isaac.lab.terrains.height_field.random_uniform_terrain`. Previously, the function would crash if the size along x and y were not the same." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:804 +msgid "0.10.22 (2024-02-14)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:809 +msgid "Fixed \"divide by zero\" bug in :class:`~omni.isaac.lab.sim.SimulationContext` when setting gravity vector. Now, it is correctly disabled when the gravity vector is set to zero." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:814 +msgid "0.10.21 (2024-02-12)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:819 +msgid "Fixed the printing of articulation joint information when the articulation has only one joint. Earlier, the function was performing a squeeze operation on the tensor, which caused an error when trying to index the tensor of shape (1,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:825 +msgid "0.10.20 (2024-02-12)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:830 +msgid "Adds :attr:`omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism` to enable improved determinism from PhysX. Please note this comes at the expense of performance." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:835 +msgid "0.10.19 (2024-02-08)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:840 +msgid "Fixed environment closing so that articulations, objects, and sensors are cleared properly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:844 +msgid "0.10.18 (2024-02-05)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:849 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:173 +msgid "Pinned :mod:`torch` version to 2.0.1 in the setup.py to keep parity version of :mod:`torch` supplied by Isaac 2023.1.1, and prevent version incompatibility between :mod:`torch` ==2.2 and :mod:`typing-extensions` ==3.7.4.3" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:855 +msgid "0.10.17 (2024-02-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:860 +msgid "Fixed carb setting ``/app/livestream/enabled`` to be set as False unless live-streaming is specified by :class:`omni.isaac.lab.app.AppLauncher` settings. This fixes the logic of :meth:`SimulationContext.render`, which depended on the config in previous versions of Isaac defaulting to false for this setting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:866 +msgid "0.10.16 (2024-01-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:871 +msgid "Added an offset parameter to the height scan observation term. This allows the user to specify the height offset of the scan from the tracked body. Previously it was hard-coded to be 0.5." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:876 +msgid "0.10.15 (2024-01-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:881 +msgid "Fixed joint torque computation for implicit actuators. Earlier, the torque was always zero for implicit actuators. Now, it is computed approximately by applying the PD law." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:886 +msgid "0.10.14 (2024-01-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:891 +msgid "Fixed the tensor shape of :attr:`omni.isaac.lab.sensors.ContactSensorData.force_matrix_w`. Earlier, the reshaping led to a mismatch with the data obtained from PhysX." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:896 +msgid "0.10.13 (2024-01-15)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:901 +msgid "Fixed running of environments with a single instance even if the :attr:`replicate_physics`` flag is set to True." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:905 +msgid "0.10.12 (2024-01-10)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:910 +msgid "Fixed indexing of source and target frames in the :class:`omni.isaac.lab.sensors.FrameTransformer` class. Earlier, it always assumed that the source frame body is at index 0. Now, it uses the body index of the source frame to compute the transformation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:917 +msgid "Renamed quantities in the :class:`omni.isaac.lab.sensors.FrameTransformerData` class to be more consistent with the terminology used in the asset classes. The following quantities are deprecated:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:920 +msgid "``target_rot_w`` -> ``target_quat_w``" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:921 +msgid "``source_rot_w`` -> ``source_quat_w``" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:922 +msgid "``target_rot_source`` -> ``target_quat_source``" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:926 +msgid "0.10.11 (2024-01-08)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:931 +msgid "Fixed attribute error raised when calling the :class:`omni.isaac.lab.envs.mdp.TerrainBasedPositionCommand` command term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:933 +msgid "Added a dummy function in :class:`omni.isaac.lab.terrain.TerrainImporter` that returns environment origins as terrain-aware sampled targets. This function should be implemented by child classes based on the terrain type." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:939 +msgid "0.10.10 (2023-12-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:944 +msgid "Fixed reliance on non-existent ``Viewport`` in :class:`omni.isaac.lab.sim.SimulationContext` when loading livestreaming by ensuring that the extension ``omni.kit.viewport.window`` is enabled in :class:`omni.isaac.lab.app.AppLauncher` when livestreaming is enabled" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:950 +msgid "0.10.9 (2023-12-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:955 +msgid "Fixed invalidation of physics views inside the asset and sensor classes. Earlier, they were left initialized even when the simulation was stopped. This caused issues when closing the application." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:960 +msgid "0.10.8 (2023-12-20)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:965 +msgid "Fixed the :class:`omni.isaac.lab.envs.mdp.actions.DifferentialInverseKinematicsAction` class to account for the offset pose of the end-effector." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:970 +msgid "0.10.7 (2023-12-19)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:975 +msgid "Added a check to ray-cast and camera sensor classes to ensure that the sensor prim path does not have a regex expression at its leaf. For instance, ``/World/Robot/camera_.*`` is not supported for these sensor types. This behavior needs to be fixed in the future." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:981 +msgid "0.10.6 (2023-12-19)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:986 +msgid "Added support for using articulations as visualization markers. This disables all physics APIs from the articulation and allows the user to use it as a visualization marker. It is useful for creating visualization markers for the end-effectors or base of the robot." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:993 +msgid "Fixed hiding of debug markers from secondary images when using the :class:`omni.isaac.lab.markers.VisualizationMarkers` class. Earlier, the properties were applied on the XForm prim instead of the Mesh prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:999 +msgid "0.10.5 (2023-12-18)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1004 +msgid "Fixed test ``check_base_env_anymal_locomotion.py``, which previously called :func:`torch.jit.load` with the path to a policy (which would work for a local file), rather than calling :func:`omni.isaac.lab.utils.assets.read_file` on the path to get the file itself." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1011 +msgid "0.10.4 (2023-12-14)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1016 +msgid "Fixed potentially breaking import of omni.kit.widget.toolbar by ensuring that if live-stream is enabled, then the :mod:`omni.kit.widget.toolbar` extension is loaded." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1021 +msgid "0.10.3 (2023-12-12)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1026 +msgid "Added the attribute :attr:`omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order` to specify the order of the input tensors to the MLP network." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1032 +msgid "Fixed computation of metrics for the velocity command term. Earlier, the norm was being computed over the entire batch instead of the last dimension." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1034 +msgid "Fixed the clipping inside the :class:`omni.isaac.lab.actuators.DCMotor` class. Earlier, it was not able to handle the case when configured saturation limit was set to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1039 +msgid "0.10.2 (2023-12-12)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1044 +msgid "Added a check in the simulation stop callback in the :class:`omni.isaac.lab.sim.SimulationContext` class to not render when an exception is raised. The while loop in the callback was preventing the application from closing when an exception was raised." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1050 +msgid "0.10.1 (2023-12-06)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1055 +msgid "Added command manager class with terms defined by :class:`omni.isaac.lab.managers.CommandTerm`. This allow for multiple types of command generators to be used in the same environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1060 +msgid "0.10.0 (2023-12-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1065 +msgid "Modified the sensor and asset base classes to use the underlying PhysX views instead of Isaac Sim views. Using Isaac Sim classes led to a very high load time (of the order of minutes) when using a scene with many assets. This is because Isaac Sim supports USD paths which are slow and not required." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1072 +msgid "Added faster implementation of USD stage traversal methods inside the :class:`omni.isaac.lab.sim.utils` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1073 +msgid "Added properties :attr:`omni.isaac.lab.assets.AssetBase.num_instances` and :attr:`omni.isaac.lab.sensor.SensorBase.num_instances` to obtain the number of instances of the asset or sensor in the simulation respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1080 +msgid "Removed dependencies on Isaac Sim view classes. It is no longer possible to use :attr:`root_view` and :attr:`body_view`. Instead use :attr:`root_physx_view` and :attr:`body_physx_view` to access the underlying PhysX views." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1086 +msgid "0.9.55 (2023-12-03)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1091 +msgid "Fixed the Nucleus directory path in the :attr:`omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR`. Earlier, it was referring to the ``NVIDIA/Assets`` directory instead of ``NVIDIA``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1096 +msgid "0.9.54 (2023-11-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1101 +msgid "Fixed pose computation in the :class:`omni.isaac.lab.sensors.Camera` class to obtain them from XFormPrimView instead of using ``UsdGeomCamera.ComputeLocalToWorldTransform`` method. The latter is not updated correctly during GPU simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1104 +msgid "Fixed initialization of the annotator info in the class :class:`omni.isaac.lab.sensors.Camera`. Previously all dicts had the same memory address which caused all annotators to have the same info." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1106 +msgid "Fixed the conversion of ``uint32`` warp arrays inside the :meth:`omni.isaac.lab.utils.array.convert_to_torch` method. PyTorch does not support this type, so it is converted to ``int32`` before converting to PyTorch tensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1108 +msgid "Added render call inside :meth:`omni.isaac.lab.sim.SimulationContext.reset` to initialize Replicator buffers when the simulation is reset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1113 +msgid "0.9.53 (2023-11-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1118 +msgid "Changed the behavior of passing :obj:`None` to the :class:`omni.isaac.lab.actuators.ActuatorBaseCfg` class. Earlier, they were resolved to fixed default values. Now, they imply that the values are loaded from the USD joint drive configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1125 +msgid "Added setting of joint armature and friction quantities to the articulation class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1129 +msgid "0.9.52 (2023-11-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1134 +msgid "Changed the warning print in :meth:`omni.isaac.lab.sim.utils.apply_nested` method to be more descriptive. Earlier, it was printing a warning for every instanced prim. Now, it only prints a warning if it could not apply the attribute to any of the prims." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1141 +msgid "Added the method :meth:`omni.isaac.lab.utils.assets.retrieve_file_path` to obtain the absolute path of a file on the Nucleus server or locally." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1147 +msgid "Fixed hiding of STOP button in the :class:`AppLauncher` class when running the simulation in headless mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1149 +msgid "Fixed a bug with :meth:`omni.isaac.lab.sim.utils.clone` failing when the input prim path had no parent (example: \"/Table\")." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1154 +msgid "0.9.51 (2023-11-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1159 +msgid "Changed the :meth:`omni.isaac.lab.sensor.SensorBase.update` method to always recompute the buffers if the sensor is in visualization mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1165 +msgid "Added available entities to the error message when accessing a non-existent entity in the :class:`InteractiveScene` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1167 +msgid "Added a warning message when the user tries to reference an invalid prim in the :class:`FrameTransformer` sensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1171 +msgid "0.9.50 (2023-11-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1176 +msgid "Hid the ``STOP`` button in the UI when running standalone Python scripts. This is to prevent users from accidentally clicking the button and stopping the simulation. They should only be able to play and pause the simulation from the UI." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1183 +msgid "Removed :attr:`omni.isaac.lab.sim.SimulationCfg.shutdown_app_on_stop`. The simulation is always rendering if it is stopped from the UI. The user needs to close the window or press ``Ctrl+C`` to close the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1188 +msgid "0.9.49 (2023-11-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1193 +msgid "Added an interface class, :class:`omni.isaac.lab.managers.ManagerTermBase`, to serve as the parent class for term implementations that are functional classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1195 +msgid "Adapted all managers to support terms that are classes and not just functions clearer. This allows the user to create more complex terms that require additional state information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1200 +msgid "0.9.48 (2023-11-24)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1205 +msgid "Fixed initialization of drift in the :class:`omni.isaac.lab.sensors.RayCasterCamera` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1209 +msgid "0.9.47 (2023-11-24)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1214 +msgid "Automated identification of the root prim in the :class:`omni.isaac.lab.assets.RigidObject` and :class:`omni.isaac.lab.assets.Articulation` classes. Earlier, the root prim was hard-coded to the spawn prim path. Now, the class searches for the root prim under the spawn prim path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1220 +msgid "0.9.46 (2023-11-24)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1225 +msgid "Fixed a critical issue in the asset classes with writing states into physics handles. Earlier, the states were written over all the indices instead of the indices of the asset that were being updated. This caused the physics handles to refresh the states of all the assets in the scene, which is not desirable." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1232 +msgid "0.9.45 (2023-11-24)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1237 +msgid "Added :class:`omni.isaac.lab.command_generators.UniformPoseCommandGenerator` to generate poses in the asset's root frame by uniformly sampling from a given range." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1242 +msgid "0.9.44 (2023-11-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1247 +msgid "Added methods :meth:`reset` and :meth:`step` to the :class:`omni.isaac.lab.envs.BaseEnv`. This unifies the environment interface for simple standalone applications with the class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1252 +msgid "0.9.43 (2023-11-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1257 +msgid "Replaced subscription of physics play and stop events in the :class:`omni.isaac.lab.assets.AssetBase` and :class:`omni.isaac.lab.sensors.SensorBase` classes with subscription to time-line play and stop events. This is to prevent issues in cases where physics first needs to perform mesh cooking and handles are not available immediately. For instance, with deformable meshes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1264 +msgid "0.9.42 (2023-11-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1269 +msgid "Fixed setting of damping values from the configuration for :class:`ActuatorBase` class. Earlier, the stiffness values were being set into damping when a dictionary configuration was passed to the actuator model." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1272 +msgid "Added dealing with :class:`int` and :class:`float` values in the configurations of :class:`ActuatorBase`. Earlier, a type-error was thrown when integer values were passed to the actuator model." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1277 +msgid "0.9.41 (2023-11-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1282 +msgid "Fixed the naming and shaping issues in the binary joint action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1286 +msgid "0.9.40 (2023-11-09)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1291 +msgid "Simplified the manual initialization of Isaac Sim :class:`ArticulationView` class. Earlier, we basically copied the code from the Isaac Sim source code. Now, we just call their initialize method." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1297 +msgid "Changed the name of attribute :attr:`default_root_state_w` to :attr:`default_root_state`. The latter is more correct since the data is actually in the local environment frame and not the simulation world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1302 +msgid "0.9.39 (2023-11-08)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1307 +msgid "Changed the reference of private ``_body_view`` variable inside the :class:`RigidObject` class to the public ``body_view`` property. For a rigid object, the private variable is not defined." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1312 +msgid "0.9.38 (2023-11-07)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1317 +msgid "Upgraded the :class:`omni.isaac.lab.envs.RLTaskEnv` class to support Gym 0.29.0 environment definition." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1322 +msgid "Added computation of ``time_outs`` and ``terminated`` signals inside the termination manager. These follow the definition mentioned in `Gym 0.29.0 `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1324 +msgid "Added proper handling of observation and action spaces in the :class:`omni.isaac.lab.envs.RLTaskEnv` class. These now follow closely to how Gym VecEnv handles the spaces." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1329 +msgid "0.9.37 (2023-11-06)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1334 +msgid "Fixed broken visualization in :mod:`omni.isaac.lab.sensors.FrameTramsformer` class by overwriting the correct ``_debug_vis_callback`` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1336 +msgid "Moved the visualization marker configurations of sensors to their respective sensor configuration classes. This allows users to set these configurations from the configuration object itself." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1341 +msgid "0.9.36 (2023-11-03)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1346 +msgid "Added explicit deleting of different managers in the :class:`omni.isaac.lab.envs.BaseEnv` and :class:`omni.isaac.lab.envs.RLTaskEnv` classes. This is required since deleting the managers is order-sensitive (many managers need to be deleted before the scene is deleted)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1352 +msgid "0.9.35 (2023-11-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1357 +msgid "Fixed the error: ``'str' object has no attribute '__module__'`` introduced by adding the future import inside the :mod:`omni.isaac.lab.utils.warp.kernels` module. Warp language does not support the ``__future__`` imports." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1362 +msgid "0.9.34 (2023-11-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1367 +msgid "Added missing import of ``from __future__ import annotations`` in the :mod:`omni.isaac.lab.utils.warp` module. This is needed to have a consistent behavior across Python versions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1372 +msgid "0.9.33 (2023-11-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1377 +msgid "Fixed the :class:`omni.isaac.lab.command_generators.NullCommandGenerator` class. Earlier, it was having a runtime error due to infinity in the resampling time range. Now, the class just overrides the parent methods to perform no operations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1383 +msgid "0.9.32 (2023-11-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1388 +msgid "Renamed the :class:`omni.isaac.lab.envs.RLEnv` class to :class:`omni.isaac.lab.envs.RLTaskEnv` to avoid confusions in terminologies between environments and tasks." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1393 +msgid "0.9.31 (2023-11-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1398 +msgid "Added the :class:`omni.isaac.lab.sensors.RayCasterCamera` class, as a ray-casting based camera for \"distance_to_camera\", \"distance_to_image_plane\" and \"normals\" annotations. It has the same interface and functionalities as the USD Camera while it is on average 30% faster." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1404 +msgid "0.9.30 (2023-11-01)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1409 +msgid "Added skipping of None values in the :class:`InteractiveScene` class when creating the scene from configuration objects. Earlier, it was throwing an error when the user passed a None value for a scene element." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1411 +msgid "Added ``kwargs`` to the :class:`RLEnv` class to allow passing additional arguments from gym registry function. This is now needed since the registry function passes args beyond the ones specified in the constructor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1416 +msgid "0.9.29 (2023-11-01)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1421 +msgid "Fixed the material path resolution inside the :class:`omni.isaac.lab.sim.converters.UrdfConverter` class. With Isaac Sim 2023.1, the material paths from the importer are always saved as absolute paths. This caused issues when the generated USD file was moved to a different location. The fix now resolves the material paths relative to the USD file location." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1428 +msgid "0.9.28 (2023-11-01)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1433 +msgid "Changed the way the :func:`omni.isaac.lab.sim.spawners.from_files.spawn_ground_plane` function sets the height of the ground. Earlier, it was reading the height from the configuration object. Now, it expects the desired transformation as inputs to the function. This makes it consistent with the other spawner functions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1439 +msgid "0.9.27 (2023-10-31)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1444 +msgid "Removed the default value of the argument ``camel_case`` in setters of USD attributes. This is to avoid confusion with the naming of the attributes in the USD file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1450 +msgid "Fixed the selection of material prim in the :class:`omni.isaac.lab.sim.spawners.materials.spawn_preview_surface` method. Earlier, the created prim was being selected in the viewport which interfered with the selection of prims by the user." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1453 +msgid "Updated :class:`omni.isaac.lab.sim.converters.MeshConverter` to use a different stage than the default stage for the conversion. This is to avoid the issue of the stage being closed when the conversion is done." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1458 +msgid "0.9.26 (2023-10-31)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1463 +msgid "Added the sensor implementation for :class:`omni.isaac.lab.sensors.FrameTransformer` class. Currently, it handles obtaining the transformation between two frames in the same articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1468 +msgid "0.9.25 (2023-10-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1473 +msgid "Added the :mod:`omni.isaac.lab.envs.ui` module to put all the UI-related classes in one place. This currently implements the :class:`omni.isaac.lab.envs.ui.BaseEnvWindow` and :class:`omni.isaac.lab.envs.ui.RLEnvWindow` classes. Users can inherit from these classes to create their own UI windows." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1476 +msgid "Added the attribute :attr:`omni.isaac.lab.envs.BaseEnvCfg.ui_window_class_type` to specify the UI window class to be used for the environment. This allows the user to specify their own UI window class to be used for the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1482 +msgid "0.9.24 (2023-10-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1487 +msgid "Changed the behavior of setting up debug visualization for assets, sensors and command generators. Earlier it was raising an error if debug visualization was not enabled in the configuration object. Now it checks whether debug visualization is implemented and only sets up the callback if it is implemented." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1494 +msgid "0.9.23 (2023-10-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1499 +msgid "Fixed a typo in the :class:`AssetBase` and :class:`SensorBase` that effected the class destructor. Earlier, a tuple was being created in the constructor instead of the actual object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1504 +msgid "0.9.22 (2023-10-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1509 +msgid "Added a :class:`omni.isaac.lab.command_generators.NullCommandGenerator` class for no command environments. This is easier to work with than having checks for :obj:`None` in the command generator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1515 +msgid "Moved the randomization manager to the :class:`omni.isaac.lab.envs.BaseEnv` class with the default settings to reset the scene to the defaults specified in the configurations of assets." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1517 +msgid "Moved command generator to the :class:`omni.isaac.lab.envs.RlEnv` class to have all task-specification related classes in the same place." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1522 +msgid "0.9.21 (2023-10-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1527 +msgid "Decreased the priority of callbacks in asset and sensor base classes. This may help in preventing crashes when warm starting the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1529 +msgid "Fixed no rendering mode when running the environment from the GUI. Earlier the function :meth:`SimulationContext.set_render_mode` was erroring out." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1534 +msgid "0.9.20 (2023-10-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1539 +msgid "Changed naming in :class:`omni.isaac.lab.sim.SimulationContext.RenderMode` to use ``NO_GUI_OR_RENDERING`` and ``NO_RENDERING`` instead of ``HEADLESS`` for clarity." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1541 +msgid "Changed :class:`omni.isaac.lab.sim.SimulationContext` to be capable of handling livestreaming and offscreen rendering." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1543 +msgid "Changed :class:`omni.isaac.lab.app.AppLauncher` envvar ``VIEWPORT_RECORD`` to the more descriptive ``OFFSCREEN_RENDER``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1548 +msgid "0.9.19 (2023-10-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1553 +msgid "Added Gym observation and action spaces for the :class:`omni.isaac.lab.envs.RLEnv` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1557 +msgid "0.9.18 (2023-10-23)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1562 +msgid "Created :class:`omni.isaac.lab.sim.converters.asset_converter.AssetConverter` to serve as a base class for all asset converters." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1564 +msgid "Added :class:`omni.isaac.lab.sim.converters.mesh_converter.MeshConverter` to handle loading and conversion of mesh files (OBJ, STL and FBX) into USD format." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1566 +msgid "Added script ``convert_mesh.py`` to ``source/tools`` to allow users to convert a mesh to USD via command line arguments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1571 +msgid "Renamed the submodule :mod:`omni.isaac.lab.sim.loaders` to :mod:`omni.isaac.lab.sim.converters` to be more general with the functionality of the module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1573 +msgid "Updated ``check_instanceable.py`` script to convert relative paths to absolute paths." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1577 +msgid "0.9.17 (2023-10-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1582 +msgid "Added setters and getters for term configurations in the :class:`RandomizationManager`, :class:`RewardManager` and :class:`TerminationManager` classes. This allows the user to modify the term configurations after the manager has been created." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1585 +msgid "Added the method :meth:`compute_group` to the :class:`omni.isaac.lab.managers.ObservationManager` class to compute the observations for only a given group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1587 +msgid "Added the curriculum term for modifying reward weights after certain environment steps." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1591 +msgid "0.9.16 (2023-10-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1596 +msgid "Added support for keyword arguments for terms in the :class:`omni.isaac.lab.managers.ManagerBase`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1601 +msgid "Fixed resetting of buffers in the :class:`TerminationManager` class. Earlier, the values were being set to ``0.0`` instead of ``False``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1606 +msgid "0.9.15 (2023-10-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1611 +msgid "Added base yaw heading and body acceleration into :class:`omni.isaac.lab.assets.RigidObjectData` class. These quantities are computed inside the :class:`RigidObject` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1617 +msgid "Fixed the :meth:`omni.isaac.lab.assets.RigidObject.set_external_force_and_torque` method to correctly deal with the body indices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1619 +msgid "Fixed a bug in the :meth:`omni.isaac.lab.utils.math.wrap_to_pi` method to prevent self-assignment of the input tensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1624 +msgid "0.9.14 (2023-10-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1629 +msgid "Added 2-D drift (i.e. along x and y) to the :class:`omni.isaac.lab.sensors.RayCaster` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1630 +msgid "Added flags to the :class:`omni.isaac.lab.sensors.ContactSensorCfg` to optionally obtain the sensor origin and air time information. Since these are not required by default, they are disabled by default." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1637 +msgid "Fixed the handling of contact sensor history buffer in the :class:`omni.isaac.lab.sensors.ContactSensor` class. Earlier, the buffer was not being updated correctly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1642 +msgid "0.9.13 (2023-10-20)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1647 +msgid "Fixed the issue with double :obj:`Ellipsis` when indexing tensors with multiple dimensions. The fix now uses :obj:`slice(None)` instead of :obj:`Ellipsis` to index the tensors." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1652 +msgid "0.9.12 (2023-10-18)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1657 +msgid "Fixed bugs in actuator model implementation for actuator nets. Earlier the DC motor clipping was not working." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1658 +msgid "Fixed bug in applying actuator model in the :class:`omni.isaac.lab.asset.Articulation` class. The new implementation caches the outputs from explicit actuator model into the ``joint_pos_*_sim`` buffer to avoid feedback loops in the tensor operation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1664 +msgid "0.9.11 (2023-10-17)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1669 +msgid "Added the support for semantic tags into the :class:`omni.isaac.lab.sim.spawner.SpawnerCfg` class. This allows the user to specify the semantic tags for a prim when spawning it into the scene. It follows the same format as Omniverse Replicator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1675 +msgid "0.9.10 (2023-10-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1680 +msgid "Added ``--livestream`` and ``--ros`` CLI args to :class:`omni.isaac.lab.app.AppLauncher` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1681 +msgid "Added a static function :meth:`omni.isaac.lab.app.AppLauncher.add_app_launcher_args`, which appends the arguments needed for :class:`omni.isaac.lab.app.AppLauncher` to the argument parser." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1687 +msgid "Within :class:`omni.isaac.lab.app.AppLauncher`, removed ``REMOTE_DEPLOYMENT`` env-var processing in the favor of ``HEADLESS`` and ``LIVESTREAM`` env-vars. These have clearer uses and better parity with the CLI args." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1693 +msgid "0.9.9 (2023-10-12)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1698 +msgid "Added the property :attr:`omni.isaac.lab.assets.Articulation.is_fixed_base` to the articulation class to check if the base of the articulation is fixed or floating." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1700 +msgid "Added the task-space action term corresponding to the differential inverse-kinematics controller." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1705 +msgid "Simplified the :class:`omni.isaac.lab.controllers.DifferentialIKController` to assume that user provides the correct end-effector poses and Jacobians. Earlier it was doing internal frame transformations which made the code more complicated and error-prone." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1711 +msgid "0.9.8 (2023-09-30)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1716 +msgid "Fixed the boundedness of class objects that register callbacks into the simulator. These include devices, :class:`AssetBase`, :class:`SensorBase` and :class:`CommandGenerator`. The fix ensures that object gets deleted when the user deletes the object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1722 +msgid "0.9.7 (2023-09-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1727 +msgid "Modified the :class:`omni.isaac.lab.markers.VisualizationMarkers` to use the :class:`omni.isaac.lab.sim.spawner.SpawnerCfg` class instead of their own configuration objects. This makes it consistent with the other ways to spawn assets in the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1734 +msgid "Added the method :meth:`copy` to configclass to allow copying of configuration objects." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1738 +msgid "0.9.6 (2023-09-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1743 +msgid "Changed class-level configuration classes to refer to class types using ``class_type`` attribute instead of ``cls`` or ``cls_name``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1748 +msgid "0.9.5 (2023-09-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1753 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:250 +msgid "Added future import of ``annotations`` to have a consistent behavior across Python versions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1754 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:251 +msgid "Removed the type-hinting from docstrings to simplify maintenance of the documentation. All type-hints are now in the code itself." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1759 +msgid "0.9.4 (2023-08-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1764 +msgid "Added :class:`omni.isaac.lab.scene.InteractiveScene`, as the central scene unit that contains all entities that are part of the simulation. These include the terrain, sensors, articulations, rigid objects etc. The scene groups the common operations of these entities and allows to access them via their unique names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1767 +msgid "Added :mod:`omni.isaac.lab.envs` module that contains environment definitions that encapsulate the different general (scene, action manager, observation manager) and RL-specific (reward and termination manager) managers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1769 +msgid "Added :class:`omni.isaac.lab.managers.SceneEntityCfg` to handle which scene elements are required by the manager's terms. This allows the manager to parse useful information from the scene elements, such as the joint and body indices, and pass them to the term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1772 +msgid "Added :class:`omni.isaac.lab.sim.SimulationContext.RenderMode` to handle different rendering modes based on what the user wants to update (viewport, cameras, or UI elements)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1778 +msgid "Fixed the :class:`omni.isaac.lab.command_generators.CommandGeneratorBase` to register a debug visualization callback similar to how sensors and robots handle visualization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1783 +msgid "0.9.3 (2023-08-23)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1788 +msgid "Enabled the `faulthander `_ to catch segfaults and print the stack trace. This is enabled by default in the :class:`omni.isaac.lab.app.AppLauncher` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1794 +msgid "Re-added the :mod:`omni.isaac.lab.utils.kit` to the ``compat`` directory and fixed all the references to it." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1795 +msgid "Fixed the deletion of Replicator nodes for the :class:`omni.isaac.lab.sensors.Camera` class. Earlier, the Replicator nodes were not being deleted when the camera was deleted. However, this does not prevent the random crashes that happen when the camera is deleted." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1798 +msgid "Fixed the :meth:`omni.isaac.lab.utils.math.convert_quat` to support both numpy and torch tensors." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1803 +msgid "Renamed all the scripts inside the ``test`` directory to follow the convention:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1805 +msgid "``test_.py``: Tests for the module ```` using unittest." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1806 +msgid "``check_``: Check for the module ```` using python main function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1810 +msgid "0.9.2 (2023-08-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1815 +msgid "Added the ability to color meshes in the :class:`omni.isaac.lab.terrain.TerrainGenerator` class. Currently, it only supports coloring the mesh randomly (``\"random\"``), based on the terrain height (``\"height\"``), and no coloring (``\"none\"``)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1822 +msgid "Modified the :class:`omni.isaac.lab.terrain.TerrainImporter` class to configure visual and physics materials based on the configuration object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1827 +msgid "0.9.1 (2023-08-18)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1832 +msgid "Introduced three different rotation conventions in the :class:`omni.isaac.lab.sensors.Camera` class. These conventions are:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1835 +msgid "``opengl``: the camera is looking down the -Z axis with the +Y axis pointing up" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1836 +msgid "``ros``: the camera is looking down the +Z axis with the +Y axis pointing down" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1837 +msgid "``world``: the camera is looking along the +X axis with the -Z axis pointing down" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1839 +msgid "These can be used to declare the camera offset in :class:`omni.isaac.lab.sensors.CameraCfg.OffsetCfg` class and in :meth:`omni.isaac.lab.sensors.Camera.set_world_pose` method. Additionally, all conventions are saved to :class:`omni.isaac.lab.sensors.CameraData` class for easy access." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1846 +msgid "Adapted all the sensor classes to follow a structure similar to the :class:`omni.isaac.lab.assets.AssetBase`. Hence, the spawning and initialization of sensors manually by the users is avoided." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1848 +msgid "Removed the :meth:`debug_vis` function since that this functionality is handled by a render callback automatically (based on the passed configuration for the :class:`omni.isaac.lab.sensors.SensorBaseCfg.debug_vis` flag)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1853 +msgid "0.9.0 (2023-08-18)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1858 +msgid "Introduces a new set of asset interfaces. These interfaces simplify the spawning of assets into the scene and initializing the physics handle by putting that inside post-startup physics callbacks. With this, users no longer need to worry about the :meth:`spawn` and :meth:`initialize` calls." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1861 +msgid "Added utility methods to :mod:`omni.isaac.lab.utils.string` module that resolve regex expressions based on passed list of target keys." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1867 +msgid "Renamed all references of joints in an articulation from \"dof\" to \"joint\". This makes it consistent with the terminology used in robotics." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1873 +msgid "Removed the previous modules for objects and robots. Instead the :class:`Articulation` and :class:`RigidObject` should be used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1878 +msgid "0.8.12 (2023-08-18)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1883 +msgid "Added other properties provided by ``PhysicsScene`` to the :class:`omni.isaac.lab.sim.SimulationContext` class to allow setting CCD, solver iterations, etc." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1885 +msgid "Added commonly used functions to the :class:`SimulationContext` class itself to avoid having additional imports from Isaac Sim when doing simple tasks such as setting camera view or retrieving the simulation settings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1891 +msgid "Switched the notations of default buffer values in :class:`omni.isaac.lab.sim.PhysxCfg` from multiplication to scientific notation to avoid confusion with the values." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1896 +msgid "0.8.11 (2023-08-18)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1901 +msgid "Adds utility functions and configuration objects in the :mod:`omni.isaac.lab.sim.spawners` to create the following prims in the scene:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1904 +msgid ":mod:`omni.isaac.lab.sim.spawners.from_file`: Create a prim from a USD/URDF file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1905 +msgid ":mod:`omni.isaac.lab.sim.spawners.shapes`: Create USDGeom prims for shapes (box, sphere, cylinder, capsule, etc.)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1906 +msgid ":mod:`omni.isaac.lab.sim.spawners.materials`: Create a visual or physics material prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1907 +msgid ":mod:`omni.isaac.lab.sim.spawners.lights`: Create a USDLux prim for different types of lights." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1908 +msgid ":mod:`omni.isaac.lab.sim.spawners.sensors`: Create a USD prim for supported sensors." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1913 +msgid "Modified the :class:`SimulationContext` class to take the default physics material using the material spawn configuration object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1918 +msgid "0.8.10 (2023-08-17)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1923 +msgid "Added methods for defining different physics-based schemas in the :mod:`omni.isaac.lab.sim.schemas` module. These methods allow creating the schema if it doesn't exist at the specified prim path and modify its properties based on the configuration object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1929 +msgid "0.8.9 (2023-08-09)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1934 +msgid "Moved the :class:`omni.isaac.lab.asset_loader.UrdfLoader` class to the :mod:`omni.isaac.lab.sim.loaders` module to make it more accessible to the user." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1939 +msgid "0.8.8 (2023-08-09)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1944 +msgid "Added configuration classes and functions for setting different physics-based schemas in the :mod:`omni.isaac.lab.sim.schemas` module. These allow modifying properties of the physics solver on the asset using configuration objects." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1950 +msgid "0.8.7 (2023-08-03)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1955 +msgid "Added support for `__post_init__ `_ in the :class:`omni.isaac.lab.utils.configclass` decorator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1960 +msgid "0.8.6 (2023-08-03)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1965 +msgid "Added support for callable classes in the :class:`omni.isaac.lab.managers.ManagerBase`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1969 +msgid "0.8.5 (2023-08-03)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1974 +msgid "Fixed the :class:`omni.isaac.lab.markers.Visualizationmarkers` class so that the markers are not visible in camera rendering mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1979 +msgid "Simplified the creation of the point instancer in the :class:`omni.isaac.lab.markers.Visualizationmarkers` class. It now creates a new prim at the next available prim path if a prim already exists at the given path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1984 +msgid "0.8.4 (2023-08-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1989 +msgid "Added the :class:`omni.isaac.lab.sim.SimulationContext` class to the :mod:`omni.isaac.lab.sim` module. This class inherits from the :class:`omni.isaac.core.simulation_context.SimulationContext` class and adds the ability to create a simulation context from a configuration object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1995 +msgid "0.8.3 (2023-08-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2000 +msgid "Moved the :class:`ActuatorBase` class to the :mod:`omni.isaac.lab.actuators.actuator_base` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2001 +msgid "Renamed the :mod:`omni.isaac.lab.actuators.actuator` module to :mod:`omni.isaac.lab.actuators.actuator_pd` to make it more explicit that it contains the PD actuator models." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2006 +msgid "0.8.2 (2023-08-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2011 +msgid "Cleaned up the :class:`omni.isaac.lab.terrain.TerrainImporter` class to take all the parameters from the configuration object. This makes it consistent with the other classes in the package." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2013 +msgid "Moved the configuration classes for terrain generator and terrain importer into separate files to resolve circular dependency issues." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2018 +msgid "0.8.1 (2023-08-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2023 +msgid "Added a hack into :class:`omni.isaac.lab.app.AppLauncher` class to remove Isaac Lab packages from the path before launching the simulation application. This prevents the warning messages that appears when the user launches the ``SimulationApp``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2029 +msgid "Enabled necessary viewport extensions in the :class:`omni.isaac.lab.app.AppLauncher` class itself if ``VIEWPORT_ENABLED`` flag is true." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2034 +msgid "0.8.0 (2023-07-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2039 +msgid "Added the :class:`ActionManager` class to the :mod:`omni.isaac.lab.managers` module to handle actions in the environment through action terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2041 +msgid "Added contact force history to the :class:`omni.isaac.lab.sensors.ContactSensor` class. The history is stored in the ``net_forces_w_history`` attribute of the sensor data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2047 +msgid "Implemented lazy update of buffers in the :class:`omni.isaac.lab.sensors.SensorBase` class. This allows the user to update the sensor data only when required, i.e. when the data is requested by the user. This helps avoid double computation of sensor data when a reset is called in the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2054 +msgid "Removed the support for different backends in the sensor class. We only use Pytorch as the backend now." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2055 +msgid "Removed the concept of actuator groups. They are now handled by the :class:`omni.isaac.lab.managers.ActionManager` class. The actuator models are now directly handled by the robot class itself." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2060 +msgid "0.7.4 (2023-07-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2065 +msgid "Changed the behavior of the :class:`omni.isaac.lab.terrains.TerrainImporter` class. It now expects the terrain type to be specified in the configuration object. This allows the user to specify everything in the configuration object and not have to do an explicit call to import a terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2072 +msgid "Fixed setting of quaternion orientations inside the :class:`omni.isaac.lab.markers.Visualizationmarkers` class. Earlier, the orientation was being set into the point instancer in the wrong order (``wxyz`` instead of ``xyzw``)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2077 +msgid "0.7.3 (2023-07-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2082 +msgid "Fixed the issue with multiple inheritance in the :class:`omni.isaac.lab.utils.configclass` decorator. Earlier, if the inheritance tree was more than one level deep and the lowest level configuration class was not updating its values from the middle level classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2088 +msgid "0.7.2 (2023-07-24)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2093 +msgid "Added the method :meth:`replace` to the :class:`omni.isaac.lab.utils.configclass` decorator to allow creating a new configuration object with values replaced from keyword arguments. This function internally calls the `dataclasses.replace `_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2100 +msgid "Fixed the handling of class types as member values in the :meth:`omni.isaac.lab.utils.configclass`. Earlier it was throwing an error since class types were skipped in the if-else block." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2105 +msgid "0.7.1 (2023-07-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2110 +msgid "Added the :class:`TerminationManager`, :class:`CurriculumManager`, and :class:`RandomizationManager` classes to the :mod:`omni.isaac.lab.managers` module to handle termination, curriculum, and randomization respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2115 +msgid "0.7.0 (2023-07-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2120 +msgid "Created a new :mod:`omni.isaac.lab.managers` module for all the managers related to the environment / scene. This includes the :class:`omni.isaac.lab.managers.ObservationManager` and :class:`omni.isaac.lab.managers.RewardManager` classes that were previously in the :mod:`omni.isaac.lab.utils.mdp` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2123 +msgid "Added the :class:`omni.isaac.lab.managers.ManagerBase` class to handle the creation of managers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2124 +msgid "Added configuration classes for :class:`ObservationTermCfg` and :class:`RewardTermCfg` to allow easy creation of observation and reward terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2130 +msgid "Changed the behavior of :class:`ObservationManager` and :class:`RewardManager` classes to accept the key ``func`` in each configuration term to be a callable. This removes the need to inherit from the base class and allows more reusability of the functions across different environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2133 +msgid "Moved the old managers to the :mod:`omni.isaac.lab.compat.utils.mdp` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2134 +msgid "Modified the necessary scripts to use the :mod:`omni.isaac.lab.compat.utils.mdp` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2138 +msgid "0.6.2 (2023-07-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2143 +msgid "Added the :mod:`omni.isaac.lab.command_generators` to generate different commands based on the desired task. It allows the user to generate commands for different tasks in the same environment without having to write custom code for each task." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2149 +msgid "0.6.1 (2023-07-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2154 +msgid "Fixed the :meth:`omni.isaac.lab.utils.math.quat_apply_yaw` to compute the yaw quaternion correctly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2159 +msgid "Added functions to convert string and callable objects in :mod:`omni.isaac.lab.utils.string`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2163 +msgid "0.6.0 (2023-07-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2168 +msgid "Added the argument :attr:`sort_keys` to the :meth:`omni.isaac.lab.utils.io.yaml.dump_yaml` method to allow enabling/disabling of sorting of keys in the output yaml file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2174 +msgid "Fixed the ordering of terms in :mod:`omni.isaac.lab.utils.configclass` to be consistent in the order in which they are defined. Previously, the ordering was done alphabetically which made it inconsistent with the order in which the parameters were defined." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2181 +msgid "Changed the default value of the argument :attr:`sort_keys` in the :meth:`omni.isaac.lab.utils.io.yaml.dump_yaml` method to ``False``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2183 +msgid "Moved the old config classes in :mod:`omni.isaac.lab.utils.configclass` to :mod:`omni.isaac.lab.compat.utils.configclass` so that users can still run their old code where alphabetical ordering was used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2189 +msgid "0.5.0 (2023-07-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2194 +msgid "Added a generalized :class:`omni.isaac.lab.sensors.SensorBase` class that leverages the ideas of views to handle multiple sensors in a single class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2196 +msgid "Added the classes :class:`omni.isaac.lab.sensors.RayCaster`, :class:`omni.isaac.lab.sensors.ContactSensor`, and :class:`omni.isaac.lab.sensors.Camera` that output a batched tensor of sensor data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2202 +msgid "Renamed the parameter ``sensor_tick`` to ``update_freq`` to make it more intuitive." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2203 +msgid "Moved the old sensors in :mod:`omni.isaac.lab.sensors` to :mod:`omni.isaac.lab.compat.sensors`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2204 +msgid "Modified the standalone scripts to use the :mod:`omni.isaac.lab.compat.sensors` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2208 +msgid "0.4.4 (2023-07-05)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2213 +msgid "Fixed the :meth:`omni.isaac.lab.terrains.trimesh.utils.make_plane` method to handle the case when the plane origin does not need to be centered." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2215 +msgid "Added the :attr:`omni.isaac.lab.terrains.TerrainGeneratorCfg.seed` to make generation of terrains reproducible. The default value is ``None`` which means that the seed is not set." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2221 +msgid "Changed the saving of ``origins`` in :class:`omni.isaac.lab.terrains.TerrainGenerator` class to be in CSV format instead of NPY format." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2226 +msgid "0.4.3 (2023-06-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2231 +msgid "Added the :class:`omni.isaac.lab.markers.PointInstancerMarker` class that wraps around `UsdGeom.PointInstancer `_ to directly work with torch and numpy arrays." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2238 +msgid "Moved the old markers in :mod:`omni.isaac.lab.markers` to :mod:`omni.isaac.lab.compat.markers`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2239 +msgid "Modified the standalone scripts to use the :mod:`omni.isaac.lab.compat.markers` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2243 +msgid "0.4.2 (2023-06-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2248 +msgid "Added the sub-module :mod:`omni.isaac.lab.terrains` to allow procedural generation of terrains and supporting importing of terrains from different sources (meshes, usd files or default ground plane)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2253 +msgid "0.4.1 (2023-06-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2255 +msgid "Added the :class:`omni.isaac.lab.app.AppLauncher` class to allow controlled instantiation of the `SimulationApp `_ and extension loading for remote deployment and ROS bridges." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2262 +msgid "Modified all standalone scripts to use the :class:`omni.isaac.lab.app.AppLauncher` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2266 +msgid "0.4.0 (2023-05-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2271 +msgid "Added a helper class :class:`omni.isaac.lab.asset_loader.UrdfLoader` that converts a URDF file to instanceable USD file based on the input configuration object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2276 +msgid "0.3.2 (2023-04-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2281 +msgid "Added safe-printing of functions while using the :meth:`omni.isaac.lab.utils.dict.print_dict` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2285 +msgid "0.3.1 (2023-04-23)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2290 +msgid "Added a modified version of ``lula_franka_gen.urdf`` which includes an end-effector frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2291 +msgid "Added a standalone script ``play_rmpflow.py`` to show RMPFlow controller." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2296 +msgid "Fixed the splitting of commands in the :meth:`ActuatorGroup.compute` method. Earlier it was reshaping the commands to the shape ``(num_actuators, num_commands)`` which was causing the commands to be split incorrectly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2298 +msgid "Fixed the processing of actuator command in the :meth:`RobotBase._process_actuators_cfg` to deal with multiple command types when using \"implicit\" actuator group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2302 +msgid "0.3.0 (2023-04-20)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2307 +msgid "Added the destructor to the keyboard devices to unsubscribe from carb." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2312 +msgid "Added the :class:`Se2Gamepad` and :class:`Se3Gamepad` for gamepad teleoperation support." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2316 +msgid "0.2.8 (2023-04-10)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2321 +msgid "Fixed bugs in :meth:`axis_angle_from_quat` in the ``omni.isaac.lab.utils.math`` to handle quaternion with negative w component." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2322 +msgid "Fixed bugs in :meth:`subtract_frame_transforms` in the ``omni.isaac.lab.utils.math`` by adding the missing final rotation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2326 +msgid "0.2.7 (2023-04-07)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2331 +msgid "Fixed repetition in applying mimic multiplier for \"p_abs\" in the :class:`GripperActuatorGroup` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2332 +msgid "Fixed bugs in :meth:`reset_buffers` in the :class:`RobotBase` and :class:`LeggedRobot` classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2335 +msgid "0.2.6 (2023-03-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2340 +msgid "Added the :class:`CollisionPropertiesCfg` to rigid/articulated object and robot base classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2341 +msgid "Added the :class:`PhysicsMaterialCfg` to the :class:`SingleArm` class for tool sites." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2346 +msgid "Changed the default control mode of the :obj:`PANDA_HAND_MIMIC_GROUP_CFG` to be from ``\"v_abs\"`` to ``\"p_abs\"``. Using velocity control for the mimic group can cause the hand to move in a jerky manner." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2351 +msgid "0.2.5 (2023-03-08)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2356 +msgid "Fixed the indices used for the Jacobian and dynamics quantities in the :class:`MobileManipulator` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2360 +msgid "0.2.4 (2023-03-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2365 +msgid "Added :meth:`apply_nested_physics_material` to the ``omni.isaac.lab.utils.kit``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2366 +msgid "Added the :meth:`sample_cylinder` to sample points from a cylinder's surface." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2367 +msgid "Added documentation about the issue in using instanceable asset as markers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2372 +msgid "Simplified the physics material application in the rigid object and legged robot classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2377 +msgid "Removed the ``geom_prim_rel_path`` argument in the :class:`RigidObjectCfg.MetaInfoCfg` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2381 +msgid "0.2.3 (2023-02-24)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2386 +msgid "Fixed the end-effector body index used for getting the Jacobian in the :class:`SingleArm` and :class:`MobileManipulator` classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2390 +msgid "0.2.2 (2023-01-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2395 +msgid "Fixed the :meth:`set_world_pose_ros` and :meth:`set_world_pose_from_view` in the :class:`Camera` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2400 +msgid "Removed the :meth:`set_world_pose_from_ypr` method from the :class:`Camera` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2404 +msgid "0.2.1 (2023-01-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2409 +msgid "Fixed the :class:`Camera` class to support different fisheye projection types." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2413 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:398 +msgid "0.2.0 (2023-01-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2418 +msgid "Added support for warp backend in camera utilities." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2419 +msgid "Extended the ``play_camera.py`` with ``--gpu`` flag to use GPU replicator backend." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2422 +msgid "0.1.1 (2023-01-24)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2427 +msgid "Fixed setting of physics material on the ground plane when using :meth:`omni.isaac.lab.utils.kit.create_ground_plane` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2431 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:425 +msgid "0.1.0 (2023-01-17)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2436 +msgid "Initial release of the extension with experimental API." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2437 +msgid "Available robot configurations:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2439 +msgid "**Quadrupeds:** Unitree A1, ANYmal B, ANYmal C" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2440 +msgid "**Single-arm manipulators:** Franka Emika arm, UR5" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2441 +msgid "**Mobile manipulators:** Clearpath Ridgeback with Franka Emika arm or UR5" +msgstr "" + +#: ../../source/refs/changelog.rst:24 +msgid "omni.isaac.lab_assets" +msgstr "" + +#: ../../source/refs/changelog.rst:26 +msgid "Extension for configurations of various assets and sensors for Isaac Lab." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:2 +msgid "0.1.2 (2024-04-03)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:7 +msgid "Added configurations for different arms from Kinova Robotics and Rethink Robotics." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:11 +msgid "0.1.1 (2024-03-11)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:16 +msgid "Added configurations for allegro and shadow hand assets." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:20 +msgid "0.1.0 (2023-12-20)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:25 +msgid "Moved all assets' configuration from ``omni.isaac.lab`` to ``omni.isaac.lab_assets`` extension." +msgstr "" + +#: ../../source/refs/changelog.rst:33 +msgid "omni.isaac.lab_tasks" +msgstr "" + +#: ../../source/refs/changelog.rst:35 +msgid "Extension containing the environments built using Isaac Lab." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:2 +msgid "0.7.10 (2024-07-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:7 +msgid "Extended skrl wrapper to support training/evaluation using JAX" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:11 +msgid "0.7.9 (2024-07-01)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:16 +msgid "Fixed the action space check in the Stable-Baselines3 wrapper. Earlier, the wrapper checked the action space via :meth:`gymnasium.spaces.Box.is_bounded` method, which returned a bool value instead of a string." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:22 +msgid "0.7.8 (2024-06-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:27 +msgid "Updated the skrl RL library integration to the latest release (>= 1.2.0)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:31 +msgid "0.7.7 (2024-06-14)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:36 +msgid "Updated the tasks to use the renamed attribute :attr:`omni.isaac.lab.sim.SimulationCfg.render_interval`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:40 +msgid "0.7.6 (2024-06-13)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:45 +msgid "Added option to save images for Cartpole Camera environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:49 +msgid "0.7.5 (2024-05-31)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:54 +msgid "Added exporting of empirical normalization layer to ONNX and JIT when exporting the model using :meth:`omni.isaac.lab.actuators.ActuatorNetMLP.export` method. Previously, the normalization layer was not exported to the ONNX and JIT models. This caused the exported model to not work properly when used for inference." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:61 +msgid "0.7.5 (2024-05-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:66 +msgid "Added a new environment ``Isaac-Navigation-Flat-Anymal-C-v0`` to navigate towards a target position on flat terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:70 +msgid "0.7.4 (2024-05-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:75 +msgid "Made default device for RSL RL and SB3 configs to \"cuda:0\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:78 +msgid "0.7.3 (2024-05-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:83 +msgid "Introduced ``--max_iterations`` argument to training scripts for specifying number of training iterations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:86 +msgid "0.7.2 (2024-05-13)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:91 +msgid "Added Shadow Hand environments: ``Isaac-Shadow-Hand-Direct-v0``, ``Isaac-Shadow-Hand-OpenAI-FF-Direct-v0``, and ``Isaac-Shadow-Hand-OpenAI-LSTM-Direct-v0``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:96 +msgid "0.7.1 (2024-05-09)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:101 +msgid "Added the skrl agent configurations for the config and direct workflow tasks" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:105 +msgid "0.7.0 (2024-05-07)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:110 +msgid "Renamed all references of ``BaseEnv``, ``RLTaskEnv``, and ``OIGEEnv`` to :class:`omni.isaac.lab.envs.ManagerBasedEnv`, :class:`omni.isaac.lab.envs.ManagerBasedRLEnv`, and :class:`omni.isaac.lab.envs.DirectRLEnv` respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:113 +msgid "Split environments into ``manager_based`` and ``direct`` folders." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:118 +msgid "Added direct workflow environments: * ``Isaac-Cartpole-Direct-v0``, ``Isaac-Cartpole-Camera-Direct-v0``, ``Isaac-Ant-Direct-v0``, ``Isaac-Humanoid-Direct-v0``. * ``Isaac-Velocity-Flat-Anymal-C-Direct-v0``, ``Isaac-Velocity-Rough-Anymal-C-Direct-v0``, ``Isaac-Quadcopter-Direct-v0``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:124 +msgid "0.6.1 (2024-04-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:129 +msgid "Added a new environment ``Isaac-Repose-Cube-Allegro-v0`` and ``Isaac-Repose-Allegro-Cube-NoVelObs-v0`` for the Allegro hand to reorient a cube. It is based on the IsaacGymEnvs Allegro hand environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:134 +msgid "0.6.0 (2024-03-10)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:139 +msgid "Added a new environment ``Isaac-Open-Drawer-Franka-v0`` for the Franka arm to open a drawer. It is based on the IsaacGymEnvs cabinet environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:145 +msgid "Fixed logging of extra information for RL-Games wrapper. It expected the extra information to be under the key ``\"episode\"``, but Isaac Lab used the key ``\"log\"``. The wrapper now remaps the key to ``\"episode\"``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:150 +msgid "0.5.7 (2024-02-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:155 +msgid "Updated the RL wrapper for the skrl library to the latest release (>= 1.1.0)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:159 +msgid "0.5.6 (2024-02-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:164 +msgid "Fixed the configuration parsing to support a pre-initialized configuration object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:168 +msgid "0.5.5 (2024-02-05)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:179 +msgid "0.5.4 (2024-02-06)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:184 +msgid "Added a check for the flag :attr:`omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon` in the RSL-RL and RL-Games wrappers to handle the finite horizon tasks properly. Earlier, the wrappers were always assuming the tasks to be infinite horizon tasks and returning a time-out signals when the episode length was reached." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:191 +msgid "0.5.3 (2023-11-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:196 +msgid "Added raising of error in the :meth:`omni.isaac.lab_tasks.utils.importer.import_all` method to make sure all the packages are imported properly. Previously, error was being caught and ignored." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:201 +msgid "0.5.2 (2023-11-08)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:206 +msgid "Fixed the RL wrappers for Stable-Baselines3 and RL-Games. It now works with their most recent versions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:207 +msgid "Fixed the :meth:`get_checkpoint_path` to allow any in-between sub-folders between the run directory and the checkpoint directory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:212 +msgid "0.5.1 (2023-11-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:217 +msgid "Fixed the wrappers to different learning frameworks to use the new :class:`omni.isaac.lab_tasks.ManagerBasedRLEnv` class. The :class:`ManagerBasedRLEnv` class inherits from the :class:`gymnasium.Env` class (Gym 0.29.0)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:219 +msgid "Fixed the registration of tasks in the Gym registry based on Gym 0.29.0 API." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:224 +msgid "Removed the inheritance of all the RL-framework specific wrappers from the :class:`gymnasium.Wrapper` class. This is because the wrappers don't comply with the new Gym 0.29.0 API. The wrappers are now only inherit from their respective RL-framework specific base classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:230 +msgid "0.5.0 (2023-10-30)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:235 +msgid "Changed the way agent configs are handled for environments and learning agents. Switched from yaml to configclasses." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:240 +msgid "Fixed the way package import automation is handled in the :mod:`omni.isaac.lab_tasks` module. Earlier it was not skipping the blacklisted packages properly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:245 +msgid "0.4.3 (2023-09-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:256 +msgid "0.4.2 (2023-08-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:261 +msgid "Moved the base environment definition to the :class:`omni.isaac.lab.envs.RLEnv` class. The :class:`RLEnv` contains RL-specific managers such as the reward, termination, randomization and curriculum managers. These are all configured using the :class:`omni.isaac.lab.envs.RLEnvConfig` class. The :class:`RLEnv` class inherits from the :class:`omni.isaac.lab.envs.ManagerBasedEnv` and ``gym.Env`` classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:269 +msgid "Adapted the wrappers to use the new :class:`omni.isaac.lab.envs.RLEnv` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:273 +msgid "0.4.1 (2023-08-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:278 +msgid "Adapted the base :class:`IsaacEnv` class to use the :class:`SimulationContext` class from the :mod:`omni.isaac.lab.sim` module. This simplifies setting of simulation parameters." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:283 +msgid "0.4.0 (2023-07-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:288 +msgid "Removed the resetting of environment indices in the step call of the :class:`IsaacEnv` class. This must be handled in the :math:`_step_impl`` function by the inherited classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:290 +msgid "Adapted the wrapper for RSL-RL library its new API." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:295 +msgid "Added handling of no checkpoint available error in the :meth:`get_checkpoint_path`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:296 +msgid "Fixed the locomotion environment for rough terrain locomotion training." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:300 +msgid "0.3.2 (2023-07-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:305 +msgid "Added a UI to the :class:`IsaacEnv` class to enable/disable rendering of the viewport when not running in headless mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:311 +msgid "Fixed the the issue with environment returning transition tuples even when the simulation is paused." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:312 +msgid "Fixed the shutdown of the simulation when the environment is closed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:316 +msgid "0.3.1 (2023-06-23)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:321 +msgid "Changed the argument ``headless`` in :class:`IsaacEnv` class to ``render``, in order to cause less confusion about rendering and headless-ness, i.e. that you can render while headless." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:326 +msgid "0.3.0 (2023-04-14)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:331 +msgid "Added a new flag ``viewport`` to the :class:`IsaacEnv` class to enable/disable rendering of the viewport. If the flag is set to ``True``, the viewport is enabled and the environment is rendered in the background." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:333 +msgid "Updated the training scripts in the ``source/standalone/workflows`` directory to use the new flag ``viewport``. If the CLI argument ``--video`` is passed, videos are recorded in the ``videos`` directory using the :class:`gym.wrappers.RecordVideo` wrapper." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:340 +msgid "The :class:`IsaacEnv` class supports different rendering mode as referenced in OpenAI Gym's ``render`` method. These modes are:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:343 +msgid "``rgb_array``: Renders the environment in the background and returns the rendered image as a numpy array." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:344 +msgid "``human``: Renders the environment in the background and displays the rendered image in a window." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:346 +msgid "Changed the constructor in the classes inheriting from :class:`IsaacEnv` to pass all the keyword arguments to the constructor of :class:`IsaacEnv` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:352 +msgid "Clarified the documentation of ``headless`` flag in the :class:`IsaacEnv` class. It refers to whether or not to render at every sim step, not whether to render the viewport or not." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:354 +msgid "Fixed the unit tests for running random agent on included environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:357 +msgid "0.2.3 (2023-03-06)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:362 +msgid "Tuned the observations and rewards for ``Isaac-Lift-Franka-v0`` environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:365 +msgid "0.2.2 (2023-03-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:370 +msgid "Fixed the issue with rigid object not working in the ``Isaac-Lift-Franka-v0`` environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:373 +msgid "0.2.1 (2023-03-01)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:378 +msgid "Added a flag ``disable_contact_processing`` to the :class:`SimCfg` class to handle contact processing effectively when using TensorAPIs for contact reporting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:380 +msgid "Added verbosity flag to :meth:`export_policy_as_onnx` to print model summary." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:385 +msgid "Clarified the documentation of flags in the :class:`SimCfg` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:386 +msgid "Added enabling of ``omni.kit.viewport`` and ``omni.replicator.isaac`` extensions dynamically to maintain order in the startup of extensions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:388 +msgid "Corrected the experiment names in the configuration files for training environments with ``rsl_rl``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:393 +msgid "Changed the default value of ``enable_scene_query_support`` in :class:`SimCfg` class to False. The flag is overridden to True inside :class:`IsaacEnv` class when running the simulation in non-headless mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:403 +msgid "Added environment wrapper and sequential trainer for the skrl RL library" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:404 +msgid "Added training/evaluation configuration files for the skrl RL library" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:407 +msgid "0.1.2 (2023-01-19)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:412 +msgid "Added the flag ``replicate_physics`` to the :class:`SimCfg` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:413 +msgid "Increased the default value of ``gpu_found_lost_pairs_capacity`` in :class:`PhysxCfg` class" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:416 +msgid "0.1.1 (2023-01-18)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:421 +msgid "Fixed a bug in ``Isaac-Velocity-Anymal-C-v0`` where the domain randomization is not applicable if cloning the environments with ``replicate_physics=True``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:430 +msgid "Initial release of the extension." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:431 +msgid "Includes the following environments:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:433 +msgid "``Isaac-Cartpole-v0``: A cartpole environment with a continuous action space." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:434 +msgid "``Isaac-Ant-v0``: A 3D ant environment with a continuous action space." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:435 +msgid "``Isaac-Humanoid-v0``: A 3D humanoid environment with a continuous action space." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:436 +msgid "``Isaac-Reach-Franka-v0``: A end-effector pose tracking task for the Franka arm." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:437 +msgid "``Isaac-Lift-Franka-v0``: A 3D object lift and reposing task for the Franka arm." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:438 +msgid "``Isaac-Velocity-Anymal-C-v0``: An SE(2) velocity tracking task for legged robot on flat terrain." +msgstr "" diff --git a/docs/_build/gettext/source/refs/contributing.pot b/docs/_build/gettext/source/refs/contributing.pot new file mode 100644 index 0000000000..32e2e83147 --- /dev/null +++ b/docs/_build/gettext/source/refs/contributing.pot @@ -0,0 +1,325 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/refs/contributing.rst:2 +msgid "Contribution Guidelines" +msgstr "" + +#: ../../source/refs/contributing.rst:4 +msgid "We wholeheartedly welcome contributions to the project to make the framework more mature and useful for everyone. These may happen in forms of:" +msgstr "" + +#: ../../source/refs/contributing.rst:7 +msgid "Bug reports: Please report any bugs you find in the `issue tracker `__." +msgstr "" + +#: ../../source/refs/contributing.rst:8 +msgid "Feature requests: Please suggest new features you would like to see in the `discussions `__." +msgstr "" + +#: ../../source/refs/contributing.rst:9 +msgid "Code contributions: Please submit a `pull request `__." +msgstr "" + +#: ../../source/refs/contributing.rst:11 +msgid "Bug fixes" +msgstr "" + +#: ../../source/refs/contributing.rst:12 +msgid "New features" +msgstr "" + +#: ../../source/refs/contributing.rst:13 +msgid "Documentation improvements" +msgstr "" + +#: ../../source/refs/contributing.rst:14 +msgid "Tutorials and tutorial improvements" +msgstr "" + +#: ../../source/refs/contributing.rst:19 +msgid "We prefer GitHub `discussions `_ for discussing ideas, asking questions, conversations and requests for new features." +msgstr "" + +#: ../../source/refs/contributing.rst:22 +msgid "Please use the `issue tracker `_ only to track executable pieces of work with a definite scope and a clear deliverable. These can be fixing bugs, new features, or general updates." +msgstr "" + +#: ../../source/refs/contributing.rst:28 +msgid "Contributing Code" +msgstr "" + +#: ../../source/refs/contributing.rst:30 +msgid "We use `GitHub `__ for code hosting. Please follow the following steps to contribute code:" +msgstr "" + +#: ../../source/refs/contributing.rst:33 +msgid "Create an issue in the `issue tracker `__ to discuss the changes or additions you would like to make. This helps us to avoid duplicate work and to make sure that the changes are aligned with the roadmap of the project." +msgstr "" + +#: ../../source/refs/contributing.rst:36 +msgid "Fork the repository." +msgstr "" + +#: ../../source/refs/contributing.rst:37 +msgid "Create a new branch for your changes." +msgstr "" + +#: ../../source/refs/contributing.rst:38 +msgid "Make your changes and commit them." +msgstr "" + +#: ../../source/refs/contributing.rst:39 +msgid "Push your changes to your fork." +msgstr "" + +#: ../../source/refs/contributing.rst:40 +msgid "Submit a pull request to the `main branch `__." +msgstr "" + +#: ../../source/refs/contributing.rst:41 +msgid "Ensure all the checks on the pull request template are performed." +msgstr "" + +#: ../../source/refs/contributing.rst:43 +msgid "After sending a pull request, the maintainers will review your code and provide feedback." +msgstr "" + +#: ../../source/refs/contributing.rst:45 +msgid "Please ensure that your code is well-formatted, documented and passes all the tests." +msgstr "" + +#: ../../source/refs/contributing.rst:49 +msgid "It is important to keep the pull request as small as possible. This makes it easier for the maintainers to review your code. If you are making multiple changes, please send multiple pull requests. Large pull requests are difficult to review and may take a long time to merge." +msgstr "" + +#: ../../source/refs/contributing.rst:55 +msgid "Coding Style" +msgstr "" + +#: ../../source/refs/contributing.rst:57 +msgid "We follow the `Google Style Guides `__ for the codebase. For Python code, the PEP guidelines are followed. Most important ones are `PEP-8 `__ for code comments and layout, `PEP-484 `__ and `PEP-585 `__ for type-hinting." +msgstr "" + +#: ../../source/refs/contributing.rst:66 +msgid "For documentation, we adopt the `Google Style Guide `__ for docstrings. We use `Sphinx `__ for generating the documentation. Please make sure that your code is well-documented and follows the guidelines." +msgstr "" + +#: ../../source/refs/contributing.rst:71 +msgid "Circular Imports" +msgstr "" + +#: ../../source/refs/contributing.rst:73 +msgid "Circular imports happen when two modules import each other, which is a common issue in Python. You can prevent circular imports by adhering to the best practices outlined in this `StackOverflow post `__." +msgstr "" + +#: ../../source/refs/contributing.rst:77 +msgid "In general, it is essential to avoid circular imports as they can lead to unpredictable behavior." +msgstr "" + +#: ../../source/refs/contributing.rst:79 +msgid "However, in our codebase, we encounter circular imports at a sub-package level. This situation arises due to our specific code structure. We organize classes or functions and their corresponding configuration objects into separate files. This separation enhances code readability and maintainability. Nevertheless, it can result in circular imports because, in many configuration objects, we specify classes or functions as default values using the attributes ``class_type`` and ``func`` respectively." +msgstr "" + +#: ../../source/refs/contributing.rst:85 +msgid "To address circular imports, we leverage the `typing.TYPE_CHECKING `_ variable. This special variable is evaluated only during type-checking, allowing us to import classes or functions in the configuration objects without triggering circular imports." +msgstr "" + +#: ../../source/refs/contributing.rst:90 +msgid "It is important to note that this is the sole instance within our codebase where circular imports are used and are acceptable. In all other scenarios, we adhere to best practices and recommend that you do the same." +msgstr "" + +#: ../../source/refs/contributing.rst:94 +msgid "Type-hinting" +msgstr "" + +#: ../../source/refs/contributing.rst:96 +msgid "To make the code more readable, we use `type hints `__ for all the functions and classes. This helps in understanding the code and makes it easier to maintain. Following this practice also helps in catching bugs early with static type checkers like `mypy `__." +msgstr "" + +#: ../../source/refs/contributing.rst:100 +msgid "To avoid duplication of efforts, we do not specify type hints for the arguments and return values in the docstrings. However, if your function or class is not self-explanatory, please add a docstring with the type hints." +msgstr "" + +#: ../../source/refs/contributing.rst:104 +msgid "Tools" +msgstr "" + +#: ../../source/refs/contributing.rst:106 +msgid "We use the following tools for maintaining code quality:" +msgstr "" + +#: ../../source/refs/contributing.rst:108 +msgid "`pre-commit `__: Runs a list of formatters and linters over the codebase." +msgstr "" + +#: ../../source/refs/contributing.rst:109 +msgid "`black `__: The uncompromising code formatter." +msgstr "" + +#: ../../source/refs/contributing.rst:110 +msgid "`flake8 `__: A wrapper around PyFlakes, pycodestyle and McCabe complexity checker." +msgstr "" + +#: ../../source/refs/contributing.rst:113 +msgid "Please check `here `__ for instructions to set these up. To run over the entire repository, please execute the following command in the terminal:" +msgstr "" + +#: ../../source/refs/contributing.rst:122 +msgid "Contributing Documentation" +msgstr "" + +#: ../../source/refs/contributing.rst:124 +msgid "Contributing to the documentation is as easy as contributing to the codebase. All the source files for the documentation are located in the ``IsaacLab/docs`` directory. The documentation is written in `reStructuredText `__ format." +msgstr "" + +#: ../../source/refs/contributing.rst:128 +msgid "We use `Sphinx `__ with the `Book Theme `__ for maintaining the documentation." +msgstr "" + +#: ../../source/refs/contributing.rst:132 +msgid "Sending a pull request for the documentation is the same as sending a pull request for the codebase. Please follow the steps mentioned in the `Contributing Code`_ section." +msgstr "" + +#: ../../source/refs/contributing.rst:137 +msgid "To build the documentation, we recommend creating a `virtual environment `__ to install the dependencies. This can also be a `conda environment `__." +msgstr "" + +#: ../../source/refs/contributing.rst:141 +msgid "To build the documentation, run the following command in the terminal which installs the required python packages and builds the documentation using the ``docs/Makefile``:" +msgstr "" + +#: ../../source/refs/contributing.rst:148 +msgid "The documentation is generated in the ``docs/_build`` directory. To view the documentation, open the ``index.html`` file in the ``html`` directory. This can be done by running the following command in the terminal:" +msgstr "" + +#: ../../source/refs/contributing.rst:158 +msgid "The ``xdg-open`` command is used to open the ``index.html`` file in the default browser. If you are using a different operating system, you can use the appropriate command to open the file in the browser." +msgstr "" + +#: ../../source/refs/contributing.rst:162 +msgid "To do a clean build, run the following command in the terminal:" +msgstr "" + +#: ../../source/refs/contributing.rst:170 +msgid "Contributing assets" +msgstr "" + +#: ../../source/refs/contributing.rst:172 +msgid "Currently, we host the assets for the extensions on `NVIDIA Nucleus Server `__. Nucleus is a cloud-based storage service that allows users to store and share large files. It is integrated with the `NVIDIA Omniverse Platform `__." +msgstr "" + +#: ../../source/refs/contributing.rst:176 +msgid "Since all assets are hosted on Nucleus, we do not need to include them in the repository. However, we need to include the links to the assets in the documentation." +msgstr "" + +#: ../../source/refs/contributing.rst:179 +msgid "The included assets are part of the `Isaac Sim Content `__. To use this content, you need to download the files to a Nucleus server or create an **Isaac** Mount on a Nucleus server." +msgstr "" + +#: ../../source/refs/contributing.rst:183 +msgid "Please check the `Isaac Sim documentation `__ for more information on how to download the assets." +msgstr "" + +#: ../../source/refs/contributing.rst:188 +msgid "We are currently working on a better way to contribute assets. We will update this section once we have a solution. In the meantime, please follow the steps mentioned below." +msgstr "" + +#: ../../source/refs/contributing.rst:191 +msgid "To host your own assets, the current solution is:" +msgstr "" + +#: ../../source/refs/contributing.rst:193 +msgid "Create a separate repository for the assets and add it over there" +msgstr "" + +#: ../../source/refs/contributing.rst:194 +msgid "Make sure the assets are licensed for use and distribution" +msgstr "" + +#: ../../source/refs/contributing.rst:195 +msgid "Include images of the assets in the README file of the repository" +msgstr "" + +#: ../../source/refs/contributing.rst:196 +msgid "Send a pull request with a link to the repository" +msgstr "" + +#: ../../source/refs/contributing.rst:198 +msgid "We will then verify the assets, its licensing, and include the assets into the Nucleus server for hosting. In case you have any questions, please feel free to reach out to us through e-mail or by opening an issue in the repository." +msgstr "" + +#: ../../source/refs/contributing.rst:204 +msgid "Maintaining a changelog" +msgstr "" + +#: ../../source/refs/contributing.rst:206 +msgid "Each extension maintains a changelog in the ``CHANGELOG.rst`` file in the ``docs`` directory. The file is written in `reStructuredText `__ format. It contains a curated, chronologically ordered list of notable changes for each version of the extension." +msgstr "" + +#: ../../source/refs/contributing.rst:210 +msgid "The goal of this changelog is to help users and contributors see precisely what notable changes have been made between each release (or version) of the extension. This is a *MUST* for every extension." +msgstr "" + +#: ../../source/refs/contributing.rst:213 +msgid "For updating the changelog, please follow the following guidelines:" +msgstr "" + +#: ../../source/refs/contributing.rst:215 +msgid "Each version should have a section with the version number and the release date." +msgstr "" + +#: ../../source/refs/contributing.rst:216 +msgid "The version number is updated according to `Semantic Versioning `__. The release date is the date on which the version is released." +msgstr "" + +#: ../../source/refs/contributing.rst:218 +msgid "Each version is divided into subsections based on the type of changes made." +msgstr "" + +#: ../../source/refs/contributing.rst:220 +msgid "``Added``: For new features." +msgstr "" + +#: ../../source/refs/contributing.rst:221 +msgid "``Changed``: For changes in existing functionality." +msgstr "" + +#: ../../source/refs/contributing.rst:222 +msgid "``Deprecated``: For soon-to-be removed features." +msgstr "" + +#: ../../source/refs/contributing.rst:223 +msgid "``Removed``: For now removed features." +msgstr "" + +#: ../../source/refs/contributing.rst:224 +msgid "``Fixed``: For any bug fixes." +msgstr "" + +#: ../../source/refs/contributing.rst:226 +msgid "Each change is described in its corresponding sub-section with a bullet point." +msgstr "" + +#: ../../source/refs/contributing.rst:227 +msgid "The bullet points are written in the past tense and in imperative mode." +msgstr "" + +#: ../../source/refs/contributing.rst:229 +msgid "For example, the following is a sample changelog:" +msgstr "" diff --git a/docs/_build/gettext/source/refs/issues.pot b/docs/_build/gettext/source/refs/issues.pot new file mode 100644 index 0000000000..0a24d0d588 --- /dev/null +++ b/docs/_build/gettext/source/refs/issues.pot @@ -0,0 +1,105 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/refs/issues.rst:2 +msgid "Known Issues" +msgstr "" + +#: ../../source/refs/issues.rst:6 +msgid "Please also refer to the `Omniverse Isaac Sim documentation`_ for known issues and workarounds." +msgstr "" + +#: ../../source/refs/issues.rst:9 +msgid "Stale values after resetting the environment" +msgstr "" + +#: ../../source/refs/issues.rst:11 +msgid "When resetting the environment, some of the data fields of assets and sensors are not updated. These include the poses of links in a kinematic chain, the camera images, the contact sensor readings, and the lidar point clouds. This is a known issue which has to do with the way the PhysX and rendering engines work in Omniverse." +msgstr "" + +#: ../../source/refs/issues.rst:16 +msgid "Many physics engines do a simulation step as a two-level call: ``forward()`` and ``simulate()``, where the kinematic and dynamic states are updated, respectively. Unfortunately, PhysX has only a single ``step()`` call where the two operations are combined. Due to computations through GPU kernels, it is not so straightforward for them to split these operations. Thus, at the moment, it is not possible to set the root and/or joint states and do a forward call to update the kinematic states of links. This affects both initialization as well as episodic resets." +msgstr "" + +#: ../../source/refs/issues.rst:23 +msgid "Similarly for RTX rendering related sensors (such as cameras), the sensor data is not updated immediately after setting the state of the sensor. The rendering engine update is bundled with the simulator's ``step()`` call which only gets called when the simulation is stepped forward. This means that the sensor data is not updated immediately after a reset and it will hold outdated values." +msgstr "" + +#: ../../source/refs/issues.rst:29 +msgid "While the above is erroneous, there is currently no direct workaround for it. From our experience in using IsaacGym, the reset values affect the agent learning critically depending on how frequently the environment terminates. Eventually if the agent is learning successfully, this number drops and does not affect the performance that critically." +msgstr "" + +#: ../../source/refs/issues.rst:34 +msgid "We have made a feature request to the respective Omniverse teams to have complete control over stepping different parts of the simulation app. However, at this point, there is no set timeline for this feature request." +msgstr "" + +#: ../../source/refs/issues.rst:40 +msgid "Non-determinism in physics simulation" +msgstr "" + +#: ../../source/refs/issues.rst:42 +msgid "Due to GPU work scheduling, there's a possibility that runtime changes to simulation parameters may alter the order in which operations take place. This occurs because environment updates can happen while the GPU is occupied with other tasks. Due to the inherent nature of floating-point numeric storage, any modification to the execution ordering can result in minor changes in the least significant bits of output data. These changes may lead to divergent execution over the course of simulating thousands of environments and simulation frames." +msgstr "" + +#: ../../source/refs/issues.rst:49 +msgid "An illustrative example of this issue is observed with the runtime domain randomization of object's physics materials. This process can introduce both determinancy and simulation issues when executed on the GPU due to the way these parameters are passed from the CPU to the GPU in the lower-level APIs. Consequently, it is strongly advised to perform this operation only at setup time, before the environment stepping commences." +msgstr "" + +#: ../../source/refs/issues.rst:55 +msgid "For more information, please refer to the `PhysX Determinism documentation`_." +msgstr "" + +#: ../../source/refs/issues.rst:57 +msgid "In addition, due to floating point precision, states across different environments in the simulation may be non-deterministic when the same set of actions are applied to the same initial states. This occurs as environments are placed further apart from the world origin at (0, 0, 0). As actors get placed at different origins in the world, floating point errors may build up and result in slight variance in results even when starting from the same initial states. One possible workaround for this issue is to place all actors/environments at the world origin at (0, 0, 0) and filter out collisions between the environments. Note that this may induce a performance degradation of around 15-50%, depending on the complexity of actors and environment." +msgstr "" + +#: ../../source/refs/issues.rst:69 +msgid "Blank initial frames from the camera" +msgstr "" + +#: ../../source/refs/issues.rst:71 +msgid "When using the :class:`omni.isaac.lab.sensors.Camera` sensor in standalone scripts, the first few frames may be blank. This is a known issue with the simulator where it needs a few steps to load the material textures properly and fill up the render targets." +msgstr "" + +#: ../../source/refs/issues.rst:75 +msgid "A hack to work around this is to add the following after initializing the camera sensor and setting its pose:" +msgstr "" + +#: ../../source/refs/issues.rst:90 +msgid "Using instanceable assets for markers" +msgstr "" + +#: ../../source/refs/issues.rst:92 +msgid "When using `instanceable assets`_ for markers, the markers do not work properly, since Omniverse does not support instanceable assets when using the :class:`UsdGeom.PointInstancer` schema. This is a known issue and will hopefully be fixed in a future release." +msgstr "" + +#: ../../source/refs/issues.rst:96 +msgid "If you use an instanceable assets for markers, the marker class removes all the physics properties of the asset. This is then replicated across other references of the same asset since physics properties of instanceable assets are stored in the instanceable asset's USD file and not in its stage reference's USD file." +msgstr "" + +#: ../../source/refs/issues.rst:106 +msgid "Exiting the process" +msgstr "" + +#: ../../source/refs/issues.rst:108 +msgid "When exiting a process with ``Ctrl+C``, occasionally the below error may appear:" +msgstr "" + +#: ../../source/refs/issues.rst:114 +msgid "This is due to the termination occurring in the middle of a physics event call and should not affect the functionality of Isaac Lab. It is safe to ignore the error message and continue with terminating the process. On Windows systems, please use ``Ctrl+Break`` or ``Ctrl+fn+B`` to terminate the process." +msgstr "" diff --git a/docs/_build/gettext/source/refs/license.pot b/docs/_build/gettext/source/refs/license.pot new file mode 100644 index 0000000000..2eb5d119f9 --- /dev/null +++ b/docs/_build/gettext/source/refs/license.pot @@ -0,0 +1,29 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/refs/license.rst:4 +msgid "License" +msgstr "" + +#: ../../source/refs/license.rst:6 +msgid "NVIDIA Isaac Sim is available freely under `individual license `_. For more information about its license terms, please check `here `_. The license files for all its dependencies and included assets are available in its `documentation `_." +msgstr "" + +#: ../../source/refs/license.rst:13 +msgid "The Isaac Lab framework is open-sourced under the `BSD-3-Clause license `_." +msgstr "" diff --git a/docs/_build/gettext/source/refs/migration.pot b/docs/_build/gettext/source/refs/migration.pot new file mode 100644 index 0000000000..ddf0538c15 --- /dev/null +++ b/docs/_build/gettext/source/refs/migration.pot @@ -0,0 +1,97 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/refs/migration.rst:2 +msgid "Migration Guide (Isaac Sim)" +msgstr "" + +#: ../../source/refs/migration.rst:4 +msgid "Moving from Isaac Sim 2022.2.1 to 2023.1.0 and later brings in a number of changes to the APIs and the way the application is built. This document outlines the changes and how to migrate your code to the new APIs. Many of these changes attribute to the underlying Omniverse Kit upgrade from 104.2 to 105.1. The new upgrade brings the following notable changes:" +msgstr "" + +#: ../../source/refs/migration.rst:10 +msgid "Update to USD 22.11" +msgstr "" + +#: ../../source/refs/migration.rst:11 +msgid "Upgrading the Python from 3.7 to 3.10" +msgstr "" + +#: ../../source/refs/migration.rst:15 +msgid "Renaming of PhysX Flatcache to PhysX Fabric" +msgstr "" + +#: ../../source/refs/migration.rst:17 +msgid "The PhysX Flatcache has been renamed to PhysX Fabric. The new name is more descriptive of the functionality and is consistent with the naming convention used by Omniverse called `Fabric`_. Consequently, the Python module name has also been changed from :mod:`omni.physxflatcache` to :mod:`omni.physxfabric`." +msgstr "" + +#: ../../source/refs/migration.rst:22 +msgid "Following this, on the Isaac Sim side, various renaming have occurred:" +msgstr "" + +#: ../../source/refs/migration.rst:24 +msgid "The parameter passed to :class:`SimulationContext` constructor via the keyword :obj:`sim_params` now expects the key ``use_fabric`` instead of ``use_flatcache``." +msgstr "" + +#: ../../source/refs/migration.rst:26 +msgid "The Python attribute :attr:`SimulationContext.get_physics_context().use_flatcache` is now :attr:`SimulationContext.get_physics_context().use_fabric`." +msgstr "" + +#: ../../source/refs/migration.rst:28 +msgid "The Python function :meth:`SimulationContext.get_physics_context().enable_flatcache` is now :meth:`SimulationContext.get_physics_context().enable_fabric`." +msgstr "" + +#: ../../source/refs/migration.rst:33 +msgid "Renaming of the URDF and MJCF Importers" +msgstr "" + +#: ../../source/refs/migration.rst:35 +msgid "Starting from Isaac Sim 2023.1, the URDF and MJCF importers have been renamed to be more consistent with the other asset importers in Omniverse. The importers are now available on NVIDIA-Omniverse GitHub as open source projects." +msgstr "" + +#: ../../source/refs/migration.rst:39 +msgid "Due to the extension name change, the Python module names have also been changed:" +msgstr "" + +#: ../../source/refs/migration.rst:41 +msgid "URDF Importer: :mod:`omni.importer.urdf` (previously :mod:`omni.isaac.urdf`)" +msgstr "" + +#: ../../source/refs/migration.rst:42 +msgid "MJCF Importer: :mod:`omni.importer.mjcf` (previously :mod:`omni.isaac.mjcf`)" +msgstr "" + +#: ../../source/refs/migration.rst:46 +msgid "Deprecation of :class:`UsdLux.Light` API" +msgstr "" + +#: ../../source/refs/migration.rst:48 +msgid "As highlighted in the release notes of `USD 22.11`_, the ``UsdLux.Light`` API has been deprecated in favor of the new ``UsdLuxLightAPI`` API. In the new API the attributes are prefixed with ``inputs:``. For example, the ``intensity`` attribute is now available as ``inputs:intensity``." +msgstr "" + +#: ../../source/refs/migration.rst:53 +msgid "The following example shows how to create a sphere light using the old API and the new API." +msgstr "" + +#: ../../source/refs/migration.rst:0 +msgid "Code for Isaac Sim 2022.2.1 and below" +msgstr "" + +#: ../../source/refs/migration.rst:0 +msgid "Code for Isaac Sim 2023.1.0 and above" +msgstr "" diff --git a/docs/_build/gettext/source/refs/troubleshooting.pot b/docs/_build/gettext/source/refs/troubleshooting.pot new file mode 100644 index 0000000000..79bff85dfa --- /dev/null +++ b/docs/_build/gettext/source/refs/troubleshooting.pot @@ -0,0 +1,141 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/refs/troubleshooting.rst:2 +msgid "Tricks and Troubleshooting" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:6 +msgid "The following lists some of the common tricks and troubleshooting methods that we use in our common workflows. Please also check the `troubleshooting page on Omniverse `__ for more assistance." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:13 +msgid "Checking the internal logs from the simulator" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:15 +msgid "When running the simulator from a standalone script, it logs warnings and errors to the terminal. At the same time, it also logs internal messages to a file. These are useful for debugging and understanding the internal state of the simulator. Depending on your system, the log file can be found in the locations listed `here `_." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:20 +msgid "To obtain the exact location of the log file, you need to check the first few lines of the terminal output when you run the standalone script. The log file location is printed at the start of the terminal output. For example:" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:32 +msgid "In the above example, the log file is located at ``.../logs/Kit/Isaac-Sim/2023.1/kit_20240328_183346.log``, ``...`` is the path to the user's log directory. The log file is named ``kit_20240328_183346.log``" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:35 +msgid "You can open this file to check the internal logs from the simulator. Also when reporting issues, please include this log file to help us debug the issue." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:40 +msgid "Using CPU Scaling Governor for performance" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:42 +msgid "By default on many systems, the CPU frequency governor is set to “powersave” mode, which sets the CPU to lowest static frequency. To increase the maximum performance, we recommend setting the CPU frequency governor to “performance” mode. For more details, please check the the link `here `__." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:50 +msgid "We advice not to set the governor to “performance” mode on a system with poor cooling (such as laptops), since it may cause the system to overheat." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:53 +msgid "To view existing ``scaling_governor`` value per CPU:" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:59 +msgid "To change the governor to “performance” mode for each CPU:" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:67 +msgid "Observing long load times at the start of the simulation" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:69 +msgid "The first time you run the simulator, it will take a long time to load up. This is because the simulator is compiling shaders and loading assets. Subsequent runs should be faster to start up, but may still take some time." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:73 +msgid "Please note that once the Isaac Sim app loads, the environment creation time may scale linearly with the number of environments. Please expect a longer load time if running with thousands of environments or if each environment contains a larger number of assets. We are continually working on improving the time needed for this." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:78 +msgid "When an instance of Isaac Sim is already running, launching another Isaac Sim instance in a different process may appear to hang at startup for the first time. Please be patient and give it some time as the second process will take longer to start up due to slower shader compilation." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:84 +msgid "Receiving a “PhysX error” when running simulation on GPU" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:86 +msgid "When using the GPU pipeline, the buffers used for the physics simulation are allocated on the GPU only once at the start of the simulation. This means that they do not grow dynamically as the number of collisions or objects in the scene changes. If the number of collisions or objects in the scene exceeds the size of the buffers, the simulation will fail with an error such as the following:" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:96 +msgid "In this case, you need to increase the size of the buffers passed to the :class:`~omni.isaac.lab.sim.SimulationContext` class. The size of the buffers can be increased by setting the :attr:`~omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity` parameter in the :class:`~omni.isaac.lab.sim.PhysxCfg` class. For example, to increase the size of the buffers to 4096, you can use the following code:" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:110 +msgid "Please see the documentation for :class:`~omni.isaac.lab.sim.SimulationCfg` for more details on the parameters that can be used to configure the simulation." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:115 +msgid "Preventing memory leaks in the simulator" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:117 +msgid "Memory leaks in the Isaac Sim simulator can occur when C++ callbacks are registered with Python objects. This happens when callback functions within classes maintain references to the Python objects they are associated with. As a result, Python's garbage collection is unable to reclaim memory associated with these objects, preventing the corresponding C++ objects from being destroyed. Over time, this can lead to memory leaks and increased resource usage." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:123 +msgid "To prevent memory leaks in the Isaac Sim simulator, it is essential to use weak references when registering callbacks with the simulator. This ensures that Python objects can be garbage collected when they are no longer needed, thereby avoiding memory leaks. The `weakref `_ module from the Python standard library can be employed for this purpose." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:129 +msgid "For example, consider a class with a callback function ``on_event_callback`` that needs to be registered with the simulator. If you use a strong reference to the ``MyClass`` object when passing the callback, the reference count of the ``MyClass`` object will be incremented. This prevents the ``MyClass`` object from being garbage collected when it is no longer needed, i.e., the ``__del__`` destructor will not be called." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:154 +msgid "To fix this issue, it's crucial to employ weak references when registering the callback. While this approach adds some verbosity to the code, it ensures that the ``MyClass`` object can be garbage collected when no longer in use. Here's the modified code:" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:178 +msgid "In this revised code, the weak reference ``weakref.proxy(self)`` is used when registering the callback, allowing the ``MyClass`` object to be properly garbage collected." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:181 +msgid "By following this pattern, you can prevent memory leaks and maintain a more efficient and stable simulation." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:185 +msgid "Understanding the error logs from crashes" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:187 +msgid "Many times the simulator crashes due to a bug in the implementation. This swamps the terminal with exceptions, some of which are coming from the python interpreter calling ``__del__()`` destructor of the simulation application. These typically look like the following:" +msgstr "" + +#: ../../source/refs/troubleshooting.rst:229 +msgid "This is a known error with running standalone scripts with the Isaac Sim simulator. Please scroll above the exceptions thrown with ``registry`` to see the actual error log." +msgstr "" + +#: ../../source/refs/troubleshooting.rst:233 +msgid "In the above case, the actual error is:" +msgstr "" diff --git a/docs/_build/gettext/source/setup/developer.pot b/docs/_build/gettext/source/setup/developer.pot new file mode 100644 index 0000000000..5c67508bd3 --- /dev/null +++ b/docs/_build/gettext/source/setup/developer.pot @@ -0,0 +1,189 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 12:43+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/setup/developer.rst:2 +msgid "Developer's Guide" +msgstr "" + +#: ../../source/setup/developer.rst:4 +msgid "For development, we suggest using `Microsoft Visual Studio Code (VSCode) `__. This is also suggested by NVIDIA Omniverse and there exists tutorials on how to `debug Omniverse extensions `__ using VSCode." +msgstr "" + +#: ../../source/setup/developer.rst:12 +msgid "Setting up Visual Studio Code" +msgstr "" + +#: ../../source/setup/developer.rst:14 +msgid "The following is only applicable for Isaac Sim installed via the Omniverse Launcher. The ``Isaac Lab`` repository includes the VSCode settings to easily allow setting up your development environment. These are included in the ``.vscode`` directory and include the following files:" +msgstr "" + +#: ../../source/setup/developer.rst:32 +msgid "To setup the IDE, please follow these instructions:" +msgstr "" + +#: ../../source/setup/developer.rst:34 +msgid "Open the ``Isaac Lab`` directory on Visual Studio Code IDE" +msgstr "" + +#: ../../source/setup/developer.rst:35 +msgid "Run VSCode `Tasks `__, by pressing ``Ctrl+Shift+P``, selecting ``Tasks: Run Task`` and running the ``setup_python_env`` in the drop down menu." +msgstr "" + +#: ../../source/setup/developer.rst:0 +msgid "VSCode Tasks" +msgstr "" + +#: ../../source/setup/developer.rst:44 +msgid "If everything executes correctly, it should create the following files:" +msgstr "" + +#: ../../source/setup/developer.rst:46 +msgid "``.vscode/launch.json``: Contains the launch configurations for debugging python code." +msgstr "" + +#: ../../source/setup/developer.rst:47 +msgid "``.vscode/settings.json``: Contains the settings for the python interpreter and the python environment." +msgstr "" + +#: ../../source/setup/developer.rst:49 +msgid "For more information on VSCode support for Omniverse, please refer to the following links:" +msgstr "" + +#: ../../source/setup/developer.rst:52 +msgid "`Isaac Sim VSCode support `__" +msgstr "" + +#: ../../source/setup/developer.rst:53 +msgid "`Debugging with VSCode `__" +msgstr "" + +#: ../../source/setup/developer.rst:57 +msgid "Configuring the python interpreter" +msgstr "" + +#: ../../source/setup/developer.rst:59 +msgid "In the provided configuration, we set the default python interpreter to use the python executable provided by Omniverse. This is specified in the ``.vscode/settings.json`` file:" +msgstr "" + +#: ../../source/setup/developer.rst:69 +msgid "If you want to use a different python interpreter (for instance, from your conda environment), you need to change the python interpreter used by selecting and activating the python interpreter of your choice in the bottom left corner of VSCode, or opening the command palette (``Ctrl+Shift+P``) and selecting ``Python: Select Interpreter``." +msgstr "" + +#: ../../source/setup/developer.rst:74 +msgid "For more information on how to set python interpreter for VSCode, please refer to the `VSCode documentation `_." +msgstr "" + +#: ../../source/setup/developer.rst:78 +msgid "Repository organization" +msgstr "" + +#: ../../source/setup/developer.rst:80 +msgid "The ``Isaac Lab`` repository is structured as follows:" +msgstr "" + +#: ../../source/setup/developer.rst:105 +msgid "The ``source`` directory contains the source code for all ``Isaac Lab`` *extensions* and *standalone applications*. The two are the different development workflows supported in `Isaac Sim `__. These are described in the following sections." +msgstr "" + +#: ../../source/setup/developer.rst:111 +msgid "Extensions" +msgstr "" + +#: ../../source/setup/developer.rst:113 +msgid "Extensions are the recommended way to develop applications in Isaac Sim. They are modularized packages that formulate the Omniverse ecosystem. Each extension provides a set of functionalities that can be used by other extensions or standalone applications. A folder is recognized as an extension if it contains an ``extension.toml`` file in the ``config`` directory. More information on extensions can be found in the `Omniverse documentation `__." +msgstr "" + +#: ../../source/setup/developer.rst:120 +msgid "Isaac Lab in itself provides extensions for robot learning. These are written into the ``source/extensions`` directory. Each extension is written as a python package and follows the following structure:" +msgstr "" + +#: ../../source/setup/developer.rst:139 +msgid "The ``config/extension.toml`` file contains the metadata of the extension. This includes the name, version, description, dependencies, etc. This information is used by Omniverse to load the extension. The ``docs`` directory contains the documentation for the extension with more detailed information about the extension and a CHANGELOG file that contains the changes made to the extension in each version." +msgstr "" + +#: ../../source/setup/developer.rst:145 +msgid "The ```` directory contains the main python package for the extension. It may also contains the ``scripts`` directory for keeping python-based applications that are loaded into Omniverse when then extension is enabled using the `Extension Manager `__." +msgstr "" + +#: ../../source/setup/developer.rst:150 +msgid "More specifically, when an extension is enabled, the python module specified in the ``config/extension.toml`` file is loaded and scripts that contains children of the :class:`omni.ext.IExt` class are executed." +msgstr "" + +#: ../../source/setup/developer.rst:172 +msgid "While loading extensions into Omniverse happens automatically, using the python package in standalone applications requires additional steps. To simplify the build process and avoiding the need to understand the `premake `__ build system used by Omniverse, we directly use the `setuptools `__ python package to build the python module provided by the extensions. This is done by the ``setup.py`` file in the extension directory." +msgstr "" + +#: ../../source/setup/developer.rst:181 +msgid "The ``setup.py`` file is not required for extensions that are only loaded into Omniverse using the `Extension Manager `__." +msgstr "" + +#: ../../source/setup/developer.rst:184 +msgid "Lastly, the ``tests`` directory contains the unit tests for the extension. These are written using the `unittest `__ framework. It is important to note that Omniverse also provides a similar `testing framework `__. However, it requires going through the build process and does not support testing of the python module in standalone applications." +msgstr "" + +#: ../../source/setup/developer.rst:192 +msgid "Extension Dependency Management" +msgstr "" + +#: ../../source/setup/developer.rst:194 +msgid "Certain extensions may have dependencies which need to be installed before the extension can be run. While Python dependencies can be expressed via the ``INSTALL_REQUIRES`` array in ``setup.py``, we need a separate installation pipeline to handle non-Python dependencies. We have therefore created an additional setup procedure, ``python tools/install_deps.py {dep_type} {extensions_dir}``, which scans the ``extension.toml`` file of the directories under the ``{extensions_dir}`` (such as ``${ISAACLAB_PATH}/source/extensions``) for ``apt`` and ``rosdep`` dependencies." +msgstr "" + +#: ../../source/setup/developer.rst:200 +msgid "This example ``extension.toml`` has both ``apt_deps`` and ``ros_ws`` specified, so both ``apt`` and ``rosdep`` packages will be installed if ``python tools/install_deps.py all ${ISAACLAB_PATH}/source/extensions`` is passed:" +msgstr "" + +#: ../../source/setup/developer.rst:210 +msgid "From the ``apt_deps`` in the above example, the package ``example_package`` would be installed via ``apt``. From the ``ros_ws``, a ``rosdep install --from-paths {ros_ws}/src --ignore-src`` command will be called. This will install all the `ROS package.xml dependencies `__ in the directory structure below. Currently the ROS distro is assumed to be ``humble``." +msgstr "" + +#: ../../source/setup/developer.rst:215 +msgid "``apt`` deps are automatically installed this way during the build process of the ``Dockerfile.base``, and ``rosdep`` deps during the build process of ``Dockerfile.ros2``." +msgstr "" + +#: ../../source/setup/developer.rst:220 +msgid "Standalone applications" +msgstr "" + +#: ../../source/setup/developer.rst:222 +msgid "In a typical Omniverse workflow, the simulator is launched first, after which the extensions are enabled that load the python module and run the python application. While this is a recommended workflow, it is not always possible to use this workflow. For example, for robot learning, it is essential to have complete control over simulation stepping and all the other functionalities instead of asynchronously waiting for the simulator to step. In such cases, it is necessary to write a standalone application that launches the simulator using :class:`~omni.isaac.lab.app.AppLauncher` and allows complete control over the simulation through the :class:`~omni.isaac.lab.sim.SimulationContext` class." +msgstr "" + +#: ../../source/setup/developer.rst:260 +msgid "The ``source/standalone`` directory contains various standalone applications designed using the extensions provided by ``Isaac Lab``. These applications are written in python and are structured as follows:" +msgstr "" + +#: ../../source/setup/developer.rst:263 +msgid "**demos**: Contains various demo applications that showcase the core framework ``omni.isaac.lab``." +msgstr "" + +#: ../../source/setup/developer.rst:264 +msgid "**environments**: Contains applications for running environments defined in ``omni.isaac.lab_tasks`` with different agents. These include a random policy, zero-action policy, teleoperation or scripted state machines." +msgstr "" + +#: ../../source/setup/developer.rst:266 +msgid "**tools**: Contains applications for using the tools provided by the framework. These include converting assets, generating datasets, etc." +msgstr "" + +#: ../../source/setup/developer.rst:268 +msgid "**tutorials**: Contains step-by-step tutorials for using the APIs provided by the framework." +msgstr "" + +#: ../../source/setup/developer.rst:269 +msgid "**workflows**: Contains applications for using environments with various learning-based frameworks. These include different reinforcement learning or imitation learning libraries." +msgstr "" diff --git a/docs/_build/gettext/source/setup/faq.pot b/docs/_build/gettext/source/setup/faq.pot new file mode 100644 index 0000000000..3636d226fc --- /dev/null +++ b/docs/_build/gettext/source/setup/faq.pot @@ -0,0 +1,69 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/setup/faq.rst:2 +msgid "Frequently Asked Questions" +msgstr "" + +#: ../../source/setup/faq.rst:5 +msgid "Where does Isaac Lab fit in the Isaac ecosystem?" +msgstr "" + +#: ../../source/setup/faq.rst:7 +msgid "Over the years, NVIDIA has developed a number of tools for robotics and AI. These tools leverage the power of GPUs to accelerate the simulation both in terms of speed and realism. They show great promise in the field of simulation technology and are being used by many researchers and companies worldwide." +msgstr "" + +#: ../../source/setup/faq.rst:12 +msgid "`Isaac Gym`_ :cite:`makoviychuk2021isaac` provides a high performance GPU-based physics simulation for robot learning. It is built on top of `PhysX`_ which supports GPU-accelerated simulation of rigid bodies and a Python API to directly access physics simulation data. Through an end-to-end GPU pipeline, it is possible to achieve high frame rates compared to CPU-based physics engines. The tool has been used successfully in a number of research projects, including legged locomotion :cite:`rudin2022learning` :cite:`rudin2022advanced`, in-hand manipulation :cite:`handa2022dextreme` :cite:`allshire2022transferring`, and industrial assembly :cite:`narang2022factory`." +msgstr "" + +#: ../../source/setup/faq.rst:20 +msgid "Despite the success of Isaac Gym, it is not designed to be a general purpose simulator for robotics. For example, it does not include interaction between deformable and rigid objects, high-fidelity rendering, and support for ROS. The tool has been primarily designed as a preview release to showcase the capabilities of the underlying physics engine. With the release of `Isaac Sim`_, NVIDIA is building a general purpose simulator for robotics and has integrated the functionalities of Isaac Gym into Isaac Sim." +msgstr "" + +#: ../../source/setup/faq.rst:27 +msgid "`Isaac Sim`_ is a robot simulation toolkit built on top of Omniverse, which is a general purpose platform that aims to unite complex 3D workflows. Isaac Sim leverages the latest advances in graphics and physics simulation to provide a high-fidelity simulation environment for robotics. It supports ROS/ROS2, various sensor simulation, tools for domain randomization and synthetic data creation. Tiled rendering support in Isaac Sim allows for vectorized rendering across environments, along with support for running in the cloud using `Isaac Automator`_. Overall, it is a powerful tool for roboticists and is a huge step forward in the field of robotics simulation." +msgstr "" + +#: ../../source/setup/faq.rst:36 +msgid "With the release of above two tools, NVIDIA also released an open-sourced set of environments called `IsaacGymEnvs`_ and `OmniIsaacGymEnvs`_, that have been built on top of Isaac Gym and Isaac Sim respectively. These environments have been designed to display the capabilities of the underlying simulators and provide a starting point to understand what is possible with the simulators for robot learning. These environments can be used for benchmarking but are not designed for developing and testing custom environments and algorithms. This is where Isaac Lab comes in." +msgstr "" + +#: ../../source/setup/faq.rst:43 +msgid "Isaac Lab is built on top of Isaac Sim to provide a unified and flexible framework for robot learning that exploits latest simulation technologies. It is designed to be modular and extensible, and aims to simplify common workflows in robotics research (such as RL, learning from demonstrations, and motion planning). While it includes some pre-built environments, sensors, and tasks, its main goal is to provide an open-sourced, unified, and easy-to-use interface for developing and testing custom environments and robot learning algorithms. It not only inherits the capabilities of Isaac Sim, but also adds a number of new features that pertain to robot learning research. For example, including actuator dynamics in the simulation, procedural terrain generation, and support to collect data from human demonstrations." +msgstr "" + +#: ../../source/setup/faq.rst:52 +msgid "Isaac Lab replaces the previous `IsaacGymEnvs`_, `OmniIsaacGymEnvs`_ and `Orbit`_ frameworks and will be the single robot learning framework for Isaac Sim. Previously released frameworks are deprecated and we encourage users to follow our `migration guides`_ to transition over to Isaac Lab." +msgstr "" + +#: ../../source/setup/faq.rst:58 +msgid "Why should I use Isaac Lab?" +msgstr "" + +#: ../../source/setup/faq.rst:60 +msgid "Since Isaac Sim remains closed-sourced, it is difficult for users to contribute to the simulator and build a common framework for research. On its current path, we see the community using the simulator will simply develop their own frameworks that will result in scattered efforts with a lot of duplication of work. This has happened in the past with other simulators, and we believe that it is not the best way to move forward as a community." +msgstr "" + +#: ../../source/setup/faq.rst:66 +msgid "Isaac Lab provides an open-sourced platform for the community to drive progress with consolidated efforts toward designing benchmarks and robot learning systems as a joint initiative. This allows us to reuse existing components and algorithms, and to build on top of each other's work. Doing so not only saves time and effort, but also allows us to focus on the more important aspects of research. Our hope with Isaac Lab is that it becomes the de-facto platform for robot learning research and an environment *zoo* that leverages Isaac Sim. As the framework matures, we foresee it benefitting hugely from the latest simulation developments (as part of internal developments at NVIDIA and collaborating partners) and research in robotics." +msgstr "" + +#: ../../source/setup/faq.rst:75 +msgid "We are already working with labs in universities and research institutions to integrate their work into Isaac Lab and hope that others in the community will join us too in this effort. If you are interested in contributing to Isaac Lab, please reach out to us." +msgstr "" diff --git a/docs/_build/gettext/source/setup/installation/binaries_installation.pot b/docs/_build/gettext/source/setup/installation/binaries_installation.pot new file mode 100644 index 0000000000..3e9532f431 --- /dev/null +++ b/docs/_build/gettext/source/setup/installation/binaries_installation.pot @@ -0,0 +1,137 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/setup/installation/binaries_installation.rst:2 +msgid "Installation using Isaac Sim Binaries" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:6 +msgid "Installing Isaac Sim" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:9 +msgid "Downloading pre-built binaries" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:11 +msgid "Please follow the Isaac Sim `documentation `__ to install the latest Isaac Sim release." +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:15 +msgid "To check the minimum system requirements,refer to the documentation `here `__." +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:19 +msgid "We have tested Isaac Lab with Isaac Sim 4.0 release on Ubuntu 20.04LTS with NVIDIA driver 525.147." +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:0 +msgid ":icon:`fa-brands fa-linux` Linux" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:28 +msgid "On Linux systems, by default, Isaac Sim is installed in the directory ``${HOME}/.local/share/ov/pkg/isaac_sim-*``, with ``*`` corresponding to the Isaac Sim version." +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:0 +msgid ":icon:`fa-brands fa-windows` Windows" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:34 +msgid "On Windows systems, by default,Isaac Sim is installed in the directory ``C:\\Users\\user\\AppData\\Local\\ov\\pkg\\isaac_sim-*``, with ``*`` corresponding to the Isaac Sim version." +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:39 +msgid "Installing Isaac Lab" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:42 +msgid "Cloning Isaac Lab" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:46 +msgid "We recommend making a `fork `_ of the Isaac Lab repository to contribute to the project but this is not mandatory to use the framework. If you make a fork, please replace ``isaac-sim`` with your username in the following instructions." +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:51 +msgid "Clone the Isaac Lab repository into your workspace:" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:0 +msgid "SSH" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:0 +msgid "HTTPS" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:69 +msgid "We provide a helper executable `isaaclab.sh `_ that provides utilities to manage extensions:" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:118 +msgid "Creating the Isaac Sim Symbolic Link" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:120 +msgid "Set up a symbolic link between the installed Isaac Sim root folder and ``_isaac_sim`` in the Isaac Lab directory. This makes it convenient to index the python modules and look for extensions shipped with Isaac Sim." +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:151 +msgid "Setting up the conda environment (optional)" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:154 +msgid "This step is optional. If you are using the bundled python with Isaac Sim, you can skip this step." +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:156 +msgid "The executable ``isaaclab.sh`` automatically fetches the python bundled with Isaac Sim, using ``./isaaclab.sh -p`` command (unless inside a virtual environment). This executable behaves like a python executable, and can be used to run any python script or module with the simulator. For more information, please refer to the `documentation `__." +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:162 +msgid "Although using a virtual environment is optional, we recommend using ``conda``. To install ``conda``, please follow the instructions `here `__. In case you want to use ``conda`` to create a virtual environment, you can use the following command:" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:191 +msgid "If you are using ``conda`` to create a virtual environment, make sure to activate the environment before running any scripts. For example:" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:198 +msgid "Once you are in the virtual environment, you do not need to use ``./isaaclab.sh -p`` / ``isaaclab.bat -p`` to run python scripts. You can use the default python executable in your environment by running ``python`` or ``python3``. However, for the rest of the documentation, we will assume that you are using ``./isaaclab.sh -p`` / ``isaaclab.bat -p`` to run python scripts. This command is equivalent to running ``python`` or ``python3`` in your virtual environment." +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:206 +msgid "Installation" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:208 +msgid "Install dependencies using ``apt`` (on Linux only):" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:215 +msgid "Run the install command that iterates over all the extensions in ``source/extensions`` directory and installs them using pip (with ``--editable`` flag):" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:237 +msgid "By default, the above will install all the learning frameworks. If you want to install only a specific framework, you can pass the name of the framework as an argument. For example, to install only the ``rl_games`` framework, you can run" +msgstr "" + +#: ../../source/setup/installation/binaries_installation.rst:257 +msgid "The valid options are ``rl_games``, ``rsl_rl``, ``sb3``, ``skrl``, ``robomimic``, ``none``." +msgstr "" diff --git a/docs/_build/gettext/source/setup/installation/cloud_installation.pot b/docs/_build/gettext/source/setup/installation/cloud_installation.pot new file mode 100644 index 0000000000..0ecce0f82d --- /dev/null +++ b/docs/_build/gettext/source/setup/installation/cloud_installation.pot @@ -0,0 +1,133 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/setup/installation/cloud_installation.rst:2 +msgid "Running Isaac Lab in the Cloud" +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:4 +msgid "Isaac Lab can be run in various cloud infrastructures with the use of `Isaac Automator `__. Isaac Automator allows for quick deployment of Isaac Sim and Isaac Lab onto the public clouds (AWS, GCP, Azure, and Alibaba Cloud are currently supported)." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:7 +msgid "The result is a fully configured remote desktop cloud workstation, which can be used for development and testing of Isaac Lab within minutes and on a budget. Isaac Automator supports variety of GPU instances and stop-start functionality to save on cloud costs and a variety of tools to aid the workflow (like uploading and downloading data, autorun, deployment management, etc)." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:11 +msgid "Installing Isaac Automator" +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:13 +msgid "For the most update-to-date and complete installation instructions, please refer to `Isaac Automator `__." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:15 +msgid "To use Isaac Automator, first clone the repo:" +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:21 +msgid "Isaac Automator requires having ``docker`` pre-installed on the system." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:23 +msgid "To install Docker, please follow the instructions for your operating system on the `Docker website`_." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:24 +msgid "Follow the post-installation steps for Docker on the `post-installation steps`_ page. These steps allow you to run Docker without using ``sudo``." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:27 +msgid "Isaac Automator also requires obtaining a NGC API key." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:29 +msgid "Get access to the `Isaac Sim container`_ by joining the NVIDIA Developer Program credentials." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:30 +msgid "Generate your `NGC API key`_ to access locked container images from NVIDIA GPU Cloud (NGC)." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:32 +msgid "This step requires you to create an NGC account if you do not already have one." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:33 +msgid "Once you have your generated API key, you need to log in to NGC from the terminal." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:40 +msgid "For the username, enter ``$oauthtoken`` exactly as shown. It is a special username that is used to authenticate with NGC." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:50 +msgid "Running Isaac Automator" +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:52 +msgid "To run Isaac Automator, first build the Isaac Automator container:" +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:0 +msgid ":icon:`fa-brands fa-linux` Linux" +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:0 +msgid ":icon:`fa-brands fa-windows` Windows" +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:71 +msgid "Next, enter the automator container:" +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:90 +msgid "Next, run the deployed script for your preferred cloud:" +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:103 +msgid "Follow the prompts for entering information regarding the environment setup and credentials. Once successful, instructions for connecting to the cloud instance will be available in the terminal. Connections can be made using SSH, noVCN, or NoMachine." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:107 +msgid "For details on the credentials and setup required for each cloud, please visit the `Isaac Automator `__ page for more instructions." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:113 +msgid "Running Isaac Lab on the Cloud" +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:115 +msgid "Once connected to the cloud instance, the desktop will have an icon showing ``isaaclab.sh``. Launch the ``isaaclab.sh`` executable, which will open a new Terminal. Within the terminal, Isaac Lab commands can be executed in the same way as running locally." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:119 +msgid "For example:" +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:140 +msgid "Destroying a Development" +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:142 +msgid "To save costs, deployments can be destroyed when not being used. This can be done from within the Automator container, which can be entered with command ``./run``." +msgstr "" + +#: ../../source/setup/installation/cloud_installation.rst:145 +msgid "To destroy a deployment, run:" +msgstr "" diff --git a/docs/_build/gettext/source/setup/installation/index.pot b/docs/_build/gettext/source/setup/installation/index.pot new file mode 100644 index 0000000000..c825084a4e --- /dev/null +++ b/docs/_build/gettext/source/setup/installation/index.pot @@ -0,0 +1,57 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/setup/installation/index.rst:39 +msgid "Installation using Isaac Sim pip (experimental)" +msgstr "" + +#: ../../source/setup/installation/index.rst:2 +msgid "Installation Guide" +msgstr "" + +#: ../../source/setup/installation/index.rst:-1 +msgid "IsaacSim 4.0" +msgstr "" + +#: ../../source/setup/installation/index.rst:-1 +msgid "Python 3.10" +msgstr "" + +#: ../../source/setup/installation/index.rst:-1 +msgid "Ubuntu 20.04" +msgstr "" + +#: ../../source/setup/installation/index.rst:-1 +msgid "Windows 11" +msgstr "" + +#: ../../source/setup/installation/index.rst:22 +msgid "We have dropped support for Isaac Sim versions 2023.1.0 and below. We recommend using the latest Isaac Sim 4.0 release to benefit from the latest features and improvements." +msgstr "" + +#: ../../source/setup/installation/index.rst:25 +msgid "For more information, please refer to the `Isaac Sim release notes `__." +msgstr "" + +#: ../../source/setup/installation/index.rst:30 +msgid "We recommend system requirements with at least 32GB RAM and 16GB VRAM for Isaac Lab. For the full list of system requirements for Isaac Sim, please refer to the `Isaac Sim system requirements `_." +msgstr "" + +#: ../../source/setup/installation/index.rst:34 +msgid "As an experimental feature in Isaac Sim 4.0 release, Isaac Sim can also be installed through pip. This simplifies the installation process by avoiding the need to download the Omniverse Launcher and installing Isaac Sim through the launcher. Therefore, there are two ways to install Isaac Lab:" +msgstr "" diff --git a/docs/_build/gettext/source/setup/installation/pip_installation.pot b/docs/_build/gettext/source/setup/installation/pip_installation.pot new file mode 100644 index 0000000000..1991678a16 --- /dev/null +++ b/docs/_build/gettext/source/setup/installation/pip_installation.pot @@ -0,0 +1,117 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/setup/installation/pip_installation.rst:2 +msgid "Installation using Isaac Sim pip" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:6 +msgid "Installing Isaac Sim" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:10 +msgid "Installing Isaac Sim from pip is currently an experimental feature. If errors occur, please report them to the `Isaac Sim Forums `_ and install Isaac Sim from pre-built binaries." +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:17 +msgid "Installing Isaac Sim with pip requires GLIBC 2.34+ version compatibility. To check the GLIBC version on your system, use command ``ldd --version``." +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:21 +msgid "To use the pip installation approach for Isaac Sim, we recommend first creating a virtual environment. Ensure that the python version of the virtual environment is **Python 3.10**." +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:0 +msgid "conda environment" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:0 +msgid "venv environment" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:0 +msgid ":icon:`fa-brands fa-linux` Linux" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:0 +msgid ":icon:`fa-brands fa-windows` Windows" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:59 +msgid "Next, install a CUDA-enabled PyTorch 2.2.2 build based on the CUDA version available on your system." +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:0 +msgid "CUDA 11" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:0 +msgid "CUDA 12" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:76 +msgid "Then, install the Isaac Sim packages necessary for running Isaac Lab:" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:84 +msgid "Installing Isaac Lab" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:87 +msgid "Cloning Isaac Lab" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:91 +msgid "We recommend making a `fork `_ of the Isaac Lab repository to contribute to the project but this is not mandatory to use the framework. If you make a fork, please replace ``isaac-sim`` with your username in the following instructions." +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:96 +msgid "Clone the Isaac Lab repository into your workspace:" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:0 +msgid "SSH" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:0 +msgid "HTTPS" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:114 +msgid "We provide a helper executable `isaaclab.sh `_ that provides utilities to manage extensions:" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:162 +msgid "Installation" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:164 +msgid "Install dependencies using ``apt`` (on Ubuntu):" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:170 +msgid "Run the install command that iterates over all the extensions in ``source/extensions`` directory and installs them using pip (with ``--editable`` flag):" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:192 +msgid "By default, this will install all the learning frameworks. If you want to install only a specific framework, you can pass the name of the framework as an argument. For example, to install only the ``rl_games`` framework, you can run" +msgstr "" + +#: ../../source/setup/installation/pip_installation.rst:212 +msgid "The valid options are ``rl_games``, ``rsl_rl``, ``sb3``, ``skrl``, ``robomimic``, ``none``." +msgstr "" diff --git a/docs/_build/gettext/source/setup/installation/verifying_installation.pot b/docs/_build/gettext/source/setup/installation/verifying_installation.pot new file mode 100644 index 0000000000..a93c15e536 --- /dev/null +++ b/docs/_build/gettext/source/setup/installation/verifying_installation.pot @@ -0,0 +1,103 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/setup/installation/verifying_installation.rst:2 +msgid "Verifying the Installation" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:6 +msgid "Verifying the Isaac Sim installation" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:9 +msgid "Isaac Sim installed from pip" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:11 +msgid "Make sure that your virtual environment is activated (if applicable)" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:14 +#: ../../source/setup/installation/verifying_installation.rst:91 +msgid "Check that the simulator runs as expected:" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:21 +msgid "By default, this will launch an empty mini Kit window." +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:23 +msgid "To run with a specific experience file, run:" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:33 +msgid "When running Isaac Sim for the first time, all dependent extensions will be pulled from the registry. This process can take upwards of 10 minutes and is required on the first run of each experience file. Once the extensions are pulled, consecutive runs using the same experience file will use the cached extensions." +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:37 +msgid "In addition, the first run will prompt users to accept the Nvidia Omniverse License Agreement. To accept the EULA, reply ``Yes`` when prompted with the below message:" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:48 +#: ../../source/setup/installation/verifying_installation.rst:159 +msgid "If the simulator does not run or crashes while following the above instructions, it means that something is incorrectly configured. To debug and troubleshoot, please check Isaac Sim `documentation `__ and the `forums `__." +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:57 +msgid "Isaac Sim installed from binaries" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:59 +msgid "To avoid the overhead of finding and locating the Isaac Sim installation directory every time, we recommend exporting the following environment variables to your terminal for the remaining of the installation instructions:" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:0 +msgid ":icon:`fa-brands fa-linux` Linux" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:0 +msgid ":icon:`fa-brands fa-windows` Windows" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:87 +msgid "For more information on common paths, please check the Isaac Sim `documentation `__." +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:113 +msgid "Check that the simulator runs from a standalone python script:" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:141 +msgid "If you have been using a previous version of Isaac Sim, you need to run the following command for the *first* time after installation to remove all the old user data and cached variables:" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:168 +msgid "Verifying the Isaac Lab installation" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:170 +msgid "To verify that the installation was successful, run the following command from the top of the repository:" +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:201 +msgid "The above command should launch the simulator and display a window with a black ground plane. You can exit the script by pressing ``Ctrl+C`` on your terminal. On Windows machines, please terminate the process from Command Prompt using ``Ctrl+Break`` or ``Ctrl+fn+B``." +msgstr "" + +#: ../../source/setup/installation/verifying_installation.rst:206 +msgid "If you see this, then the installation was successful! |:tada:|" +msgstr "" diff --git a/docs/_build/gettext/source/setup/sample.pot b/docs/_build/gettext/source/setup/sample.pot new file mode 100644 index 0000000000..acbba83f21 --- /dev/null +++ b/docs/_build/gettext/source/setup/sample.pot @@ -0,0 +1,169 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 12:43+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/setup/sample.rst:2 +msgid "Running Existing Scripts" +msgstr "" + +#: ../../source/setup/sample.rst:5 +msgid "Showroom" +msgstr "" + +#: ../../source/setup/sample.rst:7 +msgid "The main core interface extension in Isaac Lab ``omni.isaac.lab`` provides the main modules for actuators, objects, robots and sensors. We provide a list of demo scripts and tutorials. These showcase how to use the provided interfaces within a code in a minimal way." +msgstr "" + +#: ../../source/setup/sample.rst:12 +msgid "A few quick showroom scripts to run and checkout:" +msgstr "" + +#: ../../source/setup/sample.rst:14 +msgid "Spawn different quadrupeds and make robots stand using position commands:" +msgstr "" + +#: ../../source/setup/sample.rst:20 +msgid "Spawn different arms and apply random joint position commands:" +msgstr "" + +#: ../../source/setup/sample.rst:26 +msgid "Spawn different hands and command them to open and close:" +msgstr "" + +#: ../../source/setup/sample.rst:32 +msgid "Spawn procedurally generated terrains with different configurations:" +msgstr "" + +#: ../../source/setup/sample.rst:38 +msgid "Spawn multiple markers that are useful for visualizations:" +msgstr "" + +#: ../../source/setup/sample.rst:45 +msgid "Workflows" +msgstr "" + +#: ../../source/setup/sample.rst:47 +msgid "With Isaac Lab, we also provide a suite of benchmark environments included in the ``omni.isaac.lab_tasks`` extension. We use the OpenAI Gym registry to register these environments. For each environment, we provide a default configuration file that defines the scene, observations, rewards and action spaces." +msgstr "" + +#: ../../source/setup/sample.rst:52 +msgid "The list of environments available registered with OpenAI Gym can be found by running:" +msgstr "" + +#: ../../source/setup/sample.rst:60 +msgid "Basic agents" +msgstr "" + +#: ../../source/setup/sample.rst:62 +msgid "These include basic agents that output zero or random agents. They are useful to ensure that the environments are configured correctly." +msgstr "" + +#: ../../source/setup/sample.rst:65 +msgid "Zero-action agent on the Cart-pole example" +msgstr "" + +#: ../../source/setup/sample.rst:71 +msgid "Random-action agent on the Cart-pole example:" +msgstr "" + +#: ../../source/setup/sample.rst:79 +msgid "State machine" +msgstr "" + +#: ../../source/setup/sample.rst:81 +msgid "We include examples on hand-crafted state machines for the environments. These help in understanding the environment and how to use the provided interfaces. The state machines are written in `warp `__ which allows efficient execution for large number of environments using CUDA kernels." +msgstr "" + +#: ../../source/setup/sample.rst:92 +msgid "Teleoperation" +msgstr "" + +#: ../../source/setup/sample.rst:94 +msgid "We provide interfaces for providing commands in SE(2) and SE(3) space for robot control. In case of SE(2) teleoperation, the returned command is the linear x-y velocity and yaw rate, while in SE(3), the returned command is a 6-D vector representing the change in pose." +msgstr "" + +#: ../../source/setup/sample.rst:99 +msgid "To play inverse kinematics (IK) control with a keyboard device:" +msgstr "" + +#: ../../source/setup/sample.rst:105 +msgid "The script prints the teleoperation events configured. For keyboard, these are as follows:" +msgstr "" + +#: ../../source/setup/sample.rst:121 +msgid "Imitation Learning" +msgstr "" + +#: ../../source/setup/sample.rst:123 +msgid "Using the teleoperation devices, it is also possible to collect data for learning from demonstrations (LfD). For this, we support the learning framework `Robomimic `__ (Linux only) and allow saving data in `HDF5 `__ format." +msgstr "" + +#: ../../source/setup/sample.rst:130 +msgid "Collect demonstrations with teleoperation for the environment ``Isaac-Lift-Cube-Franka-IK-Rel-v0``:" +msgstr "" + +#: ../../source/setup/sample.rst:140 +msgid "Split the dataset into train and validation set:" +msgstr "" + +#: ../../source/setup/sample.rst:151 +msgid "Train a BC agent for ``Isaac-Lift-Cube-Franka-IK-Rel-v0`` with `Robomimic `__:" +msgstr "" + +#: ../../source/setup/sample.rst:158 +msgid "Play the learned model to visualize results:" +msgstr "" + +#: ../../source/setup/sample.rst:165 +msgid "Reinforcement Learning" +msgstr "" + +#: ../../source/setup/sample.rst:167 +msgid "We provide wrappers to different reinforcement libraries. These wrappers convert the data from the environments into the respective libraries function argument and return types." +msgstr "" + +#: ../../source/setup/sample.rst:170 +msgid "Training an agent with `Stable-Baselines3 `__ on ``Isaac-Cartpole-v0``:" +msgstr "" + +#: ../../source/setup/sample.rst:184 +msgid "Training an agent with `SKRL `__ on ``Isaac-Reach-Franka-v0``:" +msgstr "" + +#: ../../source/setup/sample.rst:0 +msgid "PyTorch" +msgstr "" + +#: ../../source/setup/sample.rst:0 +msgid "JAX" +msgstr "" + +#: ../../source/setup/sample.rst:213 +msgid "Training an agent with `RL-Games `__ on ``Isaac-Ant-v0``:" +msgstr "" + +#: ../../source/setup/sample.rst:225 +msgid "Training an agent with `RSL-RL `__ on ``Isaac-Reach-Franka-v0``:" +msgstr "" + +#: ../../source/setup/sample.rst:237 +msgid "All the scripts above log the training progress to `Tensorboard`_ in the ``logs`` directory in the root of the repository. The logs directory follows the pattern ``logs///``, where ```` is the name of the learning framework, ```` is the task name, and ```` is the timestamp at which the training script was executed." +msgstr "" + +#: ../../source/setup/sample.rst:242 +msgid "To view the logs, run:" +msgstr "" diff --git a/docs/_build/gettext/source/setup/template.pot b/docs/_build/gettext/source/setup/template.pot new file mode 100644 index 0000000000..43657f713e --- /dev/null +++ b/docs/_build/gettext/source/setup/template.pot @@ -0,0 +1,49 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/setup/template.rst:2 +msgid "Building your Own Project" +msgstr "" + +#: ../../source/setup/template.rst:4 +msgid "Traditionally, building new projects that utilize Isaac Lab's features required creating your own extensions within the Isaac Lab repository. However, this approach can obscure project visibility and complicate updates from one version of Isaac Lab to another. To circumvent these challenges, we now provide a pre-configured and customizable `extension template `_ for creating projects in an isolated environment." +msgstr "" + +#: ../../source/setup/template.rst:10 +msgid "This template serves three distinct use cases:" +msgstr "" + +#: ../../source/setup/template.rst:12 +msgid "**Project Template**: Provides essential access to Isaac Sim and Isaac Lab's features, making it ideal for projects that require a standalone environment." +msgstr "" + +#: ../../source/setup/template.rst:14 +msgid "**Python Package**: Facilitates integration with Isaac Sim's native or virtual Python environment, allowing for the creation of Python packages that can be shared and reused across multiple projects." +msgstr "" + +#: ../../source/setup/template.rst:16 +msgid "**Omniverse Extension**: Supports direct integration into Omniverse extension workflow." +msgstr "" + +#: ../../source/setup/template.rst:20 +msgid "We recommend using the extension template for new projects, as it provides a more streamlined and efficient workflow. Additionally it ensures that your project remains up-to-date with the latest features and improvements in Isaac Lab." +msgstr "" + +#: ../../source/setup/template.rst:25 +msgid "To get started, please follow the instructions in the `extension template repository `_." +msgstr "" diff --git a/docs/_build/gettext/source/setup/translation.pot b/docs/_build/gettext/source/setup/translation.pot new file mode 100644 index 0000000000..1cc563fa39 --- /dev/null +++ b/docs/_build/gettext/source/setup/translation.pot @@ -0,0 +1,29 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 12:24+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/setup/translation.rst:2 +msgid "About Translation" +msgstr "" + +#: ../../source/setup/translation.rst:4 +msgid "Translator: `fan-ziqi `__" +msgstr "" + +#: ../../source/setup/translation.rst:6 +msgid "Translation will be updated on `fan-ziqi/IsaacLab `__" +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/00_sim/create_empty.pot b/docs/_build/gettext/source/tutorials/00_sim/create_empty.pot new file mode 100644 index 0000000000..52503a9bab --- /dev/null +++ b/docs/_build/gettext/source/tutorials/00_sim/create_empty.pot @@ -0,0 +1,149 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/00_sim/create_empty.rst:2 +msgid "Creating an empty scene" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:6 +msgid "This tutorial shows how to launch and control Isaac Sim simulator from a standalone Python script. It sets up an empty scene in Isaac Lab and introduces the two main classes used in the framework, :class:`app.AppLauncher` and :class:`sim.SimulationContext`." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:10 +msgid "Please review `Isaac Sim Interface`_ and `Isaac Sim Workflows`_ prior to beginning this tutorial to get an initial understanding of working with the simulator." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:15 +msgid "The Code" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:17 +msgid "The tutorial corresponds to the ``create_empty.py`` script in the ``source/standalone/tutorials/00_sim`` directory." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:0 +msgid "Code for create_empty.py" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:29 +msgid "The Code Explained" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:32 +msgid "Launching the simulator" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:34 +msgid "The first step when working with standalone Python scripts is to launch the simulation application. This is necessary to do at the start since various dependency modules of Isaac Sim are only available after the simulation app is running." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:38 +msgid "This can be done by importing the :class:`app.AppLauncher` class. This utility class wraps around :class:`omni.isaac.kit.SimulationApp` class to launch the simulator. It provides mechanisms to configure the simulator using command-line arguments and environment variables." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:42 +msgid "For this tutorial, we mainly look at adding the command-line options to a user-defined :class:`argparse.ArgumentParser`. This is done by passing the parser instance to the :meth:`app.AppLauncher.add_app_launcher_args` method, which appends different parameters to it. These include launching the app headless, configuring different Livestream options, and enabling off-screen rendering." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:54 +msgid "Importing python modules" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:56 +msgid "Once the simulation app is running, it is possible to import different Python modules from Isaac Sim and other libraries. Here we import the following module:" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:59 +msgid ":mod:`omni.isaac.lab.sim`: A sub-package in Isaac Lab for all the core simulator-related operations." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:68 +msgid "Configuring the simulation context" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:70 +msgid "When launching the simulator from a standalone script, the user has complete control over playing, pausing and stepping the simulator. All these operations are handled through the **simulation context**. It takes care of various timeline events and also configures the `physics scene`_ for simulation." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:75 +msgid "In Isaac Lab, the :class:`sim.SimulationContext` class inherits from Isaac Sim's :class:`omni.isaac.core.simulation_context.SimulationContext` to allow configuring the simulation through Python's ``dataclass`` object and handle certain intricacies of the simulation stepping." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:79 +msgid "For this tutorial, we set the physics and rendering time step to 0.01 seconds. This is done by passing these quantities to the :class:`sim.SimulationCfg`, which is then used to create an instance of the simulation context." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:89 +msgid "Following the creation of the simulation context, we have only configured the physics acting on the simulated scene. This includes the device to use for simulation, the gravity vector, and other advanced solver parameters. There are now two main steps remaining to run the simulation:" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:93 +msgid "Designing the simulation scene: Adding sensors, robots and other simulated objects" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:94 +msgid "Running the simulation loop: Stepping the simulator, and setting and getting data from the simulator" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:96 +msgid "In this tutorial, we look at Step 2 first for an empty scene to focus on the simulation control first. In the following tutorials, we will look into Step 1 and working with simulation handles for interacting with the simulator." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:101 +msgid "Running the simulation" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:103 +msgid "The first thing, after setting up the simulation scene, is to call the :meth:`sim.SimulationContext.reset` method. This method plays the timeline and initializes the physics handles in the simulator. It must always be called the first time before stepping the simulator. Otherwise, the simulation handles are not initialized properly." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:110 +msgid ":meth:`sim.SimulationContext.reset` is different from :meth:`sim.SimulationContext.play` method as the latter only plays the timeline and does not initializes the physics handles." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:113 +msgid "After playing the simulation timeline, we set up a simple simulation loop where the simulator is stepped repeatedly while the simulation app is running. The method :meth:`sim.SimulationContext.step` takes in as argument :attr:`render`, which dictates whether the step includes updating the rendering-related events or not. By default, this flag is set to True." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:124 +msgid "Exiting the simulation" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:126 +msgid "Lastly, the simulation application is stopped and its window is closed by calling :meth:`omni.isaac.kit.SimulationApp.close` method." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:136 +msgid "The Code Execution" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:138 +msgid "Now that we have gone through the code, let's run the script and see the result:" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:145 +msgid "The simulation should be playing, and the stage should be rendering. To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal." +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:148 +msgid "Passing ``--help`` to the above script will show the different command-line arguments added earlier by the :class:`app.AppLauncher` class. To run the script headless, you can execute the following:" +msgstr "" + +#: ../../source/tutorials/00_sim/create_empty.rst:157 +msgid "Now that we have a basic understanding of how to run a simulation, let's move on to the following tutorial where we will learn how to add assets to the stage." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/00_sim/index.pot b/docs/_build/gettext/source/tutorials/00_sim/index.pot new file mode 100644 index 0000000000..7fd7ce5775 --- /dev/null +++ b/docs/_build/gettext/source/tutorials/00_sim/index.pot @@ -0,0 +1,25 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/00_sim/index.rst:2 +msgid "Setting up a Simple Simulation" +msgstr "" + +#: ../../source/tutorials/00_sim/index.rst:4 +msgid "These tutorials show you how to launch the simulation with different settings and spawn objects in the simulated scene. They cover the following APIs: :class:`~omni.isaac.lab.app.AppLauncher`, :class:`~omni.isaac.lab.sim.SimulationContext`, and :class:`~omni.isaac.lab.sim.spawners`." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/00_sim/launch_app.pot b/docs/_build/gettext/source/tutorials/00_sim/launch_app.pot new file mode 100644 index 0000000000..402797d945 --- /dev/null +++ b/docs/_build/gettext/source/tutorials/00_sim/launch_app.pot @@ -0,0 +1,125 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/00_sim/launch_app.rst:2 +msgid "Deep-dive into AppLauncher" +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:6 +msgid "In this tutorial, we will dive into the :class:`app.AppLauncher` class to configure the simulator using CLI arguments and environment variables (envars). Particularly, we will demonstrate how to use :class:`~app.AppLauncher` to enable livestreaming and configure the :class:`omni.isaac.kit.SimulationApp` instance it wraps, while also allowing user-provided options." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:11 +msgid "The :class:`~app.AppLauncher` is a wrapper for :class:`~omni.isaac.kit.SimulationApp` to simplify its configuration. The :class:`~omni.isaac.kit.SimulationApp` has many extensions that must be loaded to enable different capabilities, and some of these extensions are order- and inter-dependent. Additionally, there are startup options such as ``headless`` which must be set at instantiation time, and which have an implied relationship with some extensions, e.g. the livestreaming extensions. The :class:`~app.AppLauncher` presents an interface that can handle these extensions and startup options in a portable manner across a variety of use cases. To achieve this, we offer CLI and envar flags which can be merged with user-defined CLI args, while passing forward arguments intended for :class:`~omni.isaac.kit.SimulationApp`." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:23 +msgid "The Code" +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:25 +msgid "The tutorial corresponds to the ``launch_app.py`` script in the ``source/standalone/tutorials/00_sim`` directory." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:0 +msgid "Code for launch_app.py" +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:37 +msgid "The Code Explained" +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:40 +msgid "Adding arguments to the argparser" +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:42 +msgid ":class:`~app.AppLauncher` is designed to be compatible with custom CLI args that users need for their own scripts, while still providing a portable CLI interface." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:45 +msgid "In this tutorial, a standard :class:`argparse.ArgumentParser` is instantiated and given the script-specific ``--size`` argument, as well as the arguments ``--height`` and ``--width``. The latter are ingested by :class:`~omni.isaac.kit.SimulationApp`." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:49 +msgid "The argument ``--size`` is not used by :class:`~app.AppLauncher`, but will merge seamlessly with the :class:`~app.AppLauncher` interface. In-script arguments can be merged with the :class:`~app.AppLauncher` interface via the :meth:`~app.AppLauncher.add_app_launcher_args` method, which will return a modified :class:`~argparse.ArgumentParser` with the :class:`~app.AppLauncher` arguments appended. This can then be processed into an :class:`argparse.Namespace` using the standard :meth:`argparse.ArgumentParser.parse_args` method and passed directly to :class:`~app.AppLauncher` for instantiation." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:62 +msgid "The above only illustrates only one of several ways of passing arguments to :class:`~app.AppLauncher`. Please consult its documentation page to see further options." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:66 +msgid "Understanding the output of --help" +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:68 +msgid "While executing the script, we can pass the ``--help`` argument and see the combined outputs of the custom arguments and those from :class:`~app.AppLauncher`." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:102 +msgid "This readout details the ``--size``, ``--height``, and ``--width`` arguments defined in the script directly, as well as the :class:`~app.AppLauncher` arguments." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:105 +msgid "The ``[INFO]`` messages preceding the help output also reads out which of these arguments are going to be interpreted as arguments to the :class:`~omni.isaac.kit.SimulationApp` instance which the :class:`~app.AppLauncher` class wraps. In this case, it is ``--height`` and ``--width``. These are classified as such because they match the name and type of an argument which can be processed by :class:`~omni.isaac.kit.SimulationApp`. Please refer to the `specification`_ for such arguments for more examples." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:113 +msgid "Using environment variables" +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:115 +msgid "As noted in the help message, the :class:`~app.AppLauncher` arguments (``--livestream``, ``--headless``) have corresponding environment variables (envar) as well. These are detailed in :mod:`omni.isaac.lab.app` documentation. Providing any of these arguments through CLI is equivalent to running the script in a shell environment where the corresponding envar is set." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:120 +msgid "The support for :class:`~app.AppLauncher` envars are simply a convenience to provide session-persistent configurations, and can be set in the user's ``${HOME}/.bashrc`` for persistent settings between sessions. In the case where these arguments are provided from the CLI, they will override their corresponding envar, as we will demonstrate later in this tutorial." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:125 +msgid "These arguments can be used with any script that starts the simulation using :class:`~app.AppLauncher`, with one exception, ``--enable_cameras``. This setting sets the rendering pipeline to use the offscreen renderer. However, this setting is only compatible with the :class:`omni.isaac.lab.sim.SimulationContext`. It will not work with Isaac Sim's :class:`omni.isaac.core.simulation_context.SimulationContext` class. For more information on this flag, please see the :class:`~app.AppLauncher` API documentation." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:133 +msgid "The Code Execution" +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:135 +msgid "We will now run the example script:" +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:141 +msgid "This will spawn a 0.5m\\ :sup:`3` volume cuboid in the simulation. No GUI will appear, equivalent to if we had passed the ``--headless`` flag because headlessness is implied by our ``LIVESTREAM`` envar. If a visualization is desired, we could get one via Isaac's `Native Livestreaming`_. Streaming is currently the only supported method of visualization from within the container. The process can be killed by pressing ``Ctrl+C`` in the launching terminal." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:148 +msgid "Now, let's look at how :class:`~app.AppLauncher` handles conflicting commands:" +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:155 +msgid "This will cause the same behavior as in the previous run, because although we have set ``LIVESTREAM=0`` in our envars, CLI args such as ``--livestream`` take precedence in determining behavior. The process can be killed by pressing ``Ctrl+C`` in the launching terminal." +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:159 +msgid "Finally, we will examine passing arguments to :class:`~omni.isaac.kit.SimulationApp` through :class:`~app.AppLauncher`:" +msgstr "" + +#: ../../source/tutorials/00_sim/launch_app.rst:167 +msgid "This will cause the same behavior as before, but now the viewport will be rendered at 1920x1080p resolution. This can be useful when we want to gather high-resolution video, or we can specify a lower resolution if we want our simulation to be more performant. The process can be killed by pressing ``Ctrl+C`` in the launching terminal." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/00_sim/spawn_prims.pot b/docs/_build/gettext/source/tutorials/00_sim/spawn_prims.pot new file mode 100644 index 0000000000..256ddf28d1 --- /dev/null +++ b/docs/_build/gettext/source/tutorials/00_sim/spawn_prims.pot @@ -0,0 +1,149 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:5 +msgid "Spawning prims into the scene" +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:9 +msgid "This tutorial explores how to spawn various objects (or prims) into the scene in Isaac Lab from Python. It builds upon the previous tutorial on running the simulator from a standalone script and demonstrates how to spawn a ground plane, lights, primitive shapes, and meshes from USD files." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:15 +msgid "The Code" +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:17 +msgid "The tutorial corresponds to the ``spawn_prims.py`` script in the ``source/standalone/tutorials/00_sim`` directory. Let's take a look at the Python script:" +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:0 +msgid "Code for spawn_prims.py" +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:30 +msgid "The Code Explained" +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:32 +msgid "Scene designing in Omniverse is built around a software system and file format called USD (Universal Scene Description). It allows describing 3D scenes in a hierarchical manner, similar to a file system. Since USD is a comprehensive framework, we recommend reading the `USD documentation`_ to learn more about it." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:36 +msgid "For completeness, we introduce the must know concepts of USD in this tutorial." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:38 +msgid "**Primitives (Prims)**: These are the basic building blocks of a USD scene. They can be thought of as nodes in a scene graph. Each node can be a mesh, a light, a camera, or a transform. It can also be a group of other prims under it." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:40 +msgid "**Attributes**: These are the properties of a prim. They can be thought of as key-value pairs. For example, a prim can have an attribute called ``color`` with a value of ``red``." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:42 +msgid "**Relationships**: These are the connections between prims. They can be thought of as pointers to other prims. For example, a mesh prim can have a relationship to a material prim for shading." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:45 +msgid "A collection of these prims, with their attributes and relationships, is called a **USD stage**. It can be thought of as a container for all prims in a scene. When we say we are designing a scene, we are actually designing a USD stage." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:48 +msgid "While working with direct USD APIs provides a lot of flexibility, it can be cumbersome to learn and use. To make it easier to design scenes, Isaac Lab builds on top of the USD APIs to provide a configuration-driven interface to spawn prims into a scene. These are included in the :mod:`sim.spawners` module." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:52 +msgid "When spawning prims into the scene, each prim requires a configuration class instance that defines the prim's attributes and relationships (through material and shading information). The configuration class is then passed to its respective function where the prim name and transformation are specified. The function then spawns the prim into the scene." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:56 +msgid "At a high-level, this is how it works:" +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:71 +msgid "In this tutorial, we demonstrate the spawning of various different prims into the scene. For more information on the available spawners, please refer to the :mod:`sim.spawners` module in Isaac Lab." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:76 +msgid "All the scene designing must happen before the simulation starts. Once the simulation starts, we recommend keeping the scene frozen and only altering the properties of the prim. This is particularly important for GPU simulation as adding new prims during simulation may alter the physics simulation buffers on GPU and lead to unexpected behaviors." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:83 +msgid "Spawning a ground plane" +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:85 +msgid "The :class:`~sim.spawners.from_files.GroundPlaneCfg` configures a grid-like ground plane with modifiable properties such as its appearance and size." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:95 +msgid "Spawning lights" +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:97 +msgid "It is possible to spawn `different light prims`_ into the stage. These include distant lights, sphere lights, disk lights, and cylinder lights. In this tutorial, we spawn a distant light which is a light that is infinitely far away from the scene and shines in a single direction." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:108 +msgid "Spawning primitive shapes" +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:110 +msgid "Before spawning primitive shapes, we introduce the concept of a transform prim or Xform. A transform prim is a prim that contains only transformation properties. It is used to group other prims under it and to transform them as a group. Here we make an Xform prim to group all the primitive shapes under it." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:119 +msgid "Next, we spawn a cone using the :class:`~sim.spawners.shapes.ConeCfg` class. It is possible to specify the radius, height, physics properties, and material properties of the cone. By default, the physics and material properties are disabled." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:123 +msgid "The first two cones we spawn ``Cone1`` and ``Cone2`` are visual elements and do not have physics enabled." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:130 +msgid "For the third cone ``ConeRigid``, we add rigid body physics to it by setting the attributes for that in the configuration class. Through these attributes, we can specify the mass, friction, and restitution of the cone. If unspecified, they default to the default values set by USD Physics." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:141 +msgid "Spawning from another file" +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:143 +msgid "Lastly, it is possible to spawn prims from other file formats such as other USD, URDF, or OBJ files. In this tutorial, we spawn a USD file of a table into the scene. The table is a mesh prim and has a material prim associated with it. All of this information is stored in its USD file." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:152 +msgid "The table above is added as a reference to the scene. In layman terms, this means that the table is not actually added to the scene, but a ``pointer`` to the table asset is added. This allows us to modify the table asset and have the changes reflected in the scene in a non-destructive manner. For example, we can change the material of the table without actually modifying the underlying file for the table asset directly. Only the changes are stored in the USD stage." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:159 +msgid "Executing the Script" +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:161 +msgid "Similar to the tutorial before, to run the script, execute the following command:" +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:167 +msgid "Once the simulation starts, you should see a window with a ground plane, a light, some cones, and a table. The green cone, which has rigid body physics enabled, should fall and collide with the table and the ground plane. The other cones are visual elements and should not move. To stop the simulation, you can close the window, or press ``Ctrl+C`` in the terminal." +msgstr "" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:172 +msgid "This tutorial provided a foundation for spawning various prims into the scene in Isaac Lab. Although simple, it demonstrates the basic concepts of scene designing in Isaac Lab and how to use the spawners. In the coming tutorials, we will now look at how to interact with the scene and the simulation." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/01_assets/index.pot b/docs/_build/gettext/source/tutorials/01_assets/index.pot new file mode 100644 index 0000000000..81c960040b --- /dev/null +++ b/docs/_build/gettext/source/tutorials/01_assets/index.pot @@ -0,0 +1,25 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/01_assets/index.rst:2 +msgid "Interacting with Assets" +msgstr "" + +#: ../../source/tutorials/01_assets/index.rst:4 +msgid "Having spawned objects in the scene, these tutorials show you how to create physics handles for these objects and interact with them. These revolve around the :class:`~omni.isaac.lab.assets.AssetBase` class and its derivatives such as :class:`~omni.isaac.lab.assets.RigidObject` and :class:`~omni.isaac.lab.assets.Articulation`." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/01_assets/run_articulation.pot b/docs/_build/gettext/source/tutorials/01_assets/run_articulation.pot new file mode 100644 index 0000000000..cd54ba98fd --- /dev/null +++ b/docs/_build/gettext/source/tutorials/01_assets/run_articulation.pot @@ -0,0 +1,129 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/01_assets/run_articulation.rst:4 +msgid "Interacting with an articulation" +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:9 +msgid "This tutorial shows how to interact with an articulated robot in the simulation. It is a continuation of the :ref:`tutorial-interact-rigid-object` tutorial, where we learned how to interact with a rigid object. On top of setting the root state, we will see how to set the joint state and apply commands to the articulated robot." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:16 +msgid "The Code" +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:18 +msgid "The tutorial corresponds to the ``run_articulation.py`` script in the ``source/standalone/tutorials/01_assets`` directory." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:0 +msgid "Code for run_articulation.py" +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:31 +msgid "The Code Explained" +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:34 +msgid "Designing the scene" +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:36 +msgid "Similar to the previous tutorial, we populate the scene with a ground plane and a distant light. Instead of spawning rigid objects, we now spawn a cart-pole articulation from its USD file. The cart-pole is a simple robot consisting of a cart and a pole attached to it. The cart is free to move along the x-axis, and the pole is free to rotate about the cart. The USD file for the cart-pole contains the robot's geometry, joints, and other physical properties." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:42 +msgid "For the cart-pole, we use its pre-defined configuration object, which is an instance of the :class:`assets.ArticulationCfg` class. This class contains information about the articulation's spawning strategy, default initial state, actuator models for different joints, and other meta-information. A deeper-dive into how to create this configuration object is provided in the :ref:`how-to-write-articulation-config` tutorial." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:47 +msgid "As seen in the previous tutorial, we can spawn the articulation into the scene in a similar fashion by creating an instance of the :class:`assets.Articulation` class by passing the configuration object to its constructor." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:57 +msgid "Running the simulation loop" +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:59 +msgid "Continuing from the previous tutorial, we reset the simulation at regular intervals, set commands to the articulation, step the simulation, and update the articulation's internal buffers." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:63 +msgid "Resetting the simulation" +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:65 +msgid "Similar to a rigid object, an articulation also has a root state. This state corresponds to the root body in the articulation tree. On top of the root state, an articulation also has joint states. These states correspond to the joint positions and velocities." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:69 +msgid "To reset the articulation, we first set the root state by calling the :meth:`Articulation.write_root_state_to_sim` method. Similarly, we set the joint states by calling the :meth:`Articulation.write_joint_state_to_sim` method. Finally, we call the :meth:`Articulation.reset` method to reset any internal buffers and caches." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:79 +msgid "Stepping the simulation" +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:81 +msgid "Applying commands to the articulation involves two steps:" +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:83 +msgid "*Setting the joint targets*: This sets the desired joint position, velocity, or effort targets for the articulation." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:84 +msgid "*Writing the data to the simulation*: Based on the articulation's configuration, this step handles any :ref:`actuation conversions ` and writes the converted values to the PhysX buffer." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:87 +msgid "In this tutorial, we control the articulation using joint effort commands. For this to work, we need to set the articulation's stiffness and damping parameters to zero. This is done a-priori inside the cart-pole's pre-defined configuration object." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:91 +msgid "At every step, we randomly sample joint efforts and set them to the articulation by calling the :meth:`Articulation.set_joint_effort_target` method. After setting the targets, we call the :meth:`Articulation.write_data_to_sim` method to write the data to the PhysX buffer. Finally, we step the simulation." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:103 +msgid "Updating the state" +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:105 +msgid "Every articulation class contains a :class:`assets.ArticulationData` object. This stores the state of the articulation. To update the state inside the buffer, we call the :meth:`assets.Articulation.update` method." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:115 +msgid "The Code Execution" +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:117 +msgid "To run the code and see the results, let's run the script from the terminal:" +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:124 +msgid "This command should open a stage with a ground plane, lights, and two cart-poles that are moving around randomly. To stop the simulation, you can either close the window, press the ``STOP`` button in the UI, or press ``Ctrl+C`` in the terminal." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:128 +msgid "In this tutorial, we learned how to create and interact with a simple articulation. We saw how to set the state of an articulation (its root and joint state) and how to apply commands to it. We also saw how to update its buffers to read the latest state from the simulation." +msgstr "" + +#: ../../source/tutorials/01_assets/run_articulation.rst:132 +msgid "In addition to this tutorial, we also provide a few other scripts that spawn different robots.These are included in the ``source/standalone/demos`` directory. You can run these scripts as:" +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/01_assets/run_rigid_object.pot b/docs/_build/gettext/source/tutorials/01_assets/run_rigid_object.pot new file mode 100644 index 0000000000..8380c636e8 --- /dev/null +++ b/docs/_build/gettext/source/tutorials/01_assets/run_rigid_object.pot @@ -0,0 +1,129 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:5 +msgid "Interacting with a rigid object" +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:9 +msgid "In the previous tutorials, we learned the essential workings of the standalone script and how to spawn different objects (or *prims*) into the simulation. This tutorial shows how to create and interact with a rigid object. For this, we will use the :class:`assets.RigidObject` class provided in Isaac Lab." +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:14 +msgid "The Code" +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:16 +msgid "The tutorial corresponds to the ``run_rigid_object.py`` script in the ``source/standalone/tutorials/01_assets`` directory." +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:0 +msgid "Code for run_rigid_object.py" +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:28 +msgid "The Code Explained" +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:30 +msgid "In this script, we split the ``main`` function into two separate functions, which highlight the two main steps of setting up any simulation in the simulator:" +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:33 +msgid "**Design scene**: As the name suggests, this part is responsible for adding all the prims to the scene." +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:34 +msgid "**Run simulation**: This part is responsible for stepping the simulator, interacting with the prims in the scene, e.g., changing their poses, and applying any commands to them." +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:37 +msgid "A distinction between these two steps is necessary because the second step only happens after the first step is complete and the simulator is reset. Once the simulator is reset (which automatically plays the simulation), no new (physics-enabled) prims should be added to the scene as it may lead to unexpected behaviors. However, the prims can be interacted with through their respective handles." +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:44 +msgid "Designing the scene" +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:46 +msgid "Similar to the previous tutorial, we populate the scene with a ground plane and a light source. In addition, we add a rigid object to the scene using the :class:`assets.RigidObject` class. This class is responsible for spawning the prims at the input path and initializes their corresponding rigid body physics handles." +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:50 +msgid "In this tutorial, we create a conical rigid object using the spawn configuration similar to the rigid cone in the :ref:`Spawn Objects ` tutorial. The only difference is that now we wrap the spawning configuration into the :class:`assets.RigidObjectCfg` class. This class contains information about the asset's spawning strategy, default initial state, and other meta-information. When this class is passed to the :class:`assets.RigidObject` class, it spawns the object and initializes the corresponding physics handles when the simulation is played." +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:57 +msgid "As an example on spawning the rigid object prim multiple times, we create its parent Xform prims, ``/World/Origin{i}``, that correspond to different spawn locations. When the regex expression ``/World/Origin*/Cone`` is passed to the :class:`assets.RigidObject` class, it spawns the rigid object prim at each of the ``/World/Origin{i}`` locations. For instance, if ``/World/Origin1`` and ``/World/Origin2`` are present in the scene, the rigid object prims are spawned at the locations ``/World/Origin1/Cone`` and ``/World/Origin2/Cone`` respectively." +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:69 +msgid "Since we want to interact with the rigid object, we pass this entity back to the main function. This entity is then used to interact with the rigid object in the simulation loop. In later tutorials, we will see a more convenient way to handle multiple scene entities using the :class:`scene.InteractiveScene` class." +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:80 +msgid "Running the simulation loop" +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:82 +msgid "We modify the simulation loop to interact with the rigid object to include three steps -- resetting the simulation state at fixed intervals, stepping the simulation, and updating the internal buffers of the rigid object. For the convenience of this tutorial, we extract the rigid object's entity from the scene dictionary and store it in a variable." +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:88 +msgid "Resetting the simulation state" +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:90 +msgid "To reset the simulation state of the spawned rigid object prims, we need to set their pose and velocity. Together they define the root state of the spawned rigid objects. It is important to note that this state is defined in the **simulation world frame**, and not of their parent Xform prim. This is because the physics engine only understands the world frame and not the parent Xform prim's frame. Thus, we need to transform desired state of the rigid object prim into the world frame before setting it." +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:96 +msgid "We use the :attr:`assets.RigidObject.data.default_root_state` attribute to get the default root state of the spawned rigid object prims. This default state can be configured from the :attr:`assets.RigidObjectCfg.init_state` attribute, which we left as identity in this tutorial. We then randomize the translation of the root state and set the desired state of the rigid object prim using the :meth:`assets.RigidObject.write_root_state_to_sim` method. As the name suggests, this method writes the root state of the rigid object prim into the simulation buffer." +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:108 +msgid "Stepping the simulation" +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:110 +msgid "Before stepping the simulation, we perform the :meth:`assets.RigidObject.write_data_to_sim` method. This method writes other data, such as external forces, into the simulation buffer. In this tutorial, we do not apply any external forces to the rigid object, so this method is not necessary. However, it is included for completeness." +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:120 +msgid "Updating the state" +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:122 +msgid "After stepping the simulation, we update the internal buffers of the rigid object prims to reflect their new state inside the :class:`assets.RigidObject.data` attribute. This is done using the :meth:`assets.RigidObject.update` method." +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:132 +msgid "The Code Execution" +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:134 +msgid "Now that we have gone through the code, let's run the script and see the result:" +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:141 +msgid "This should open a stage with a ground plane, lights, and several green cones. The cones must be dropping from a random height and settling on to the ground. To stop the simulation, you can either close the window, or press the ``STOP`` button in the UI, or press ``Ctrl+C`` in the terminal" +msgstr "" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:145 +msgid "This tutorial showed how to spawn rigid objects and wrap them in a :class:`RigidObject` class to initialize their physics handles which allows setting and obtaining their state. In the next tutorial, we will see how to interact with an articulated object which is a collection of rigid objects connected by joints." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/02_scene/create_scene.pot b/docs/_build/gettext/source/tutorials/02_scene/create_scene.pot new file mode 100644 index 0000000000..9807549543 --- /dev/null +++ b/docs/_build/gettext/source/tutorials/02_scene/create_scene.pot @@ -0,0 +1,169 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/02_scene/create_scene.rst:4 +msgid "Using the Interactive Scene" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:8 +msgid "So far in the tutorials, we manually spawned assets into the simulation and created object instances to interact with them. However, as the complexity of the scene increases, it becomes tedious to perform these tasks manually. In this tutorial, we will introduce the :class:`scene.InteractiveScene` class, which provides a convenient interface for spawning prims and managing them in the simulation." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:14 +msgid "At a high-level, the interactive scene is a collection of scene entities. Each entity can be either a non-interactive prim (e.g. ground plane, light source), an interactive prim (e.g. articulation, rigid object), or a sensor (e.g. camera, lidar). The interactive scene provides a convenient interface for spawning these entities and managing them in the simulation." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:20 +msgid "Compared the manual approach, it provides the following benefits:" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:22 +msgid "Alleviates the user needing to spawn each asset separately as this is handled implicitly." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:23 +msgid "Enables user-friendly cloning of scene prims for multiple environments." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:24 +msgid "Collects all the scene entities into a single object, which makes them easier to manage." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:26 +msgid "In this tutorial, we take the cartpole example from the :ref:`tutorial-interact-articulation` tutorial and replace the ``design_scene`` function with an :class:`scene.InteractiveScene` object. While it may seem like overkill to use the interactive scene for this simple example, it will become more useful in the future as more assets and sensors are added to the scene." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:33 +msgid "The Code" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:35 +msgid "This tutorial corresponds to the ``create_scene.py`` script within ``source/standalone/tutorials/02_scene``." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:0 +msgid "Code for create_scene.py" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:48 +msgid "The Code Explained" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:50 +msgid "While the code is similar to the previous tutorial, there are a few key differences that we will go over in detail." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:54 +msgid "Scene configuration" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:56 +msgid "The scene is composed of a collection of entities, each with their own configuration. These are specified in a configuration class that inherits from :class:`scene.InteractiveSceneCfg`. The configuration class is then passed to the :class:`scene.InteractiveScene` constructor to create the scene." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:61 +msgid "For the cartpole example, we specify the same scene as in the previous tutorial, but list them now in the configuration class :class:`CartpoleSceneCfg` instead of manually spawning them." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:68 +msgid "The variable names in the configuration class are used as keys to access the corresponding entity from the :class:`scene.InteractiveScene` object. For example, the cartpole can be accessed via ``scene[\"cartpole\"]``. However, we will get to that later. First, let's look at how individual scene entities are configured." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:73 +msgid "Similar to how a rigid object and articulation were configured in the previous tutorials, the configurations are specified using a configuration class. However, there is a key difference between the configurations for the ground plane and light source and the configuration for the cartpole. The ground plane and light source are non-interactive prims, while the cartpole is an interactive prim. This distinction is reflected in the configuration classes used to specify them. The configurations for the ground plane and light source are specified using an instance of the :class:`assets.AssetBaseCfg` class while the cartpole is configured using an instance of the :class:`assets.ArticulationCfg`. Anything that is not an interactive prim (i.e., neither an asset nor a sensor) is not *handled* by the scene during simulation steps." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:84 +msgid "Another key difference to note is in the specification of the prim paths for the different prims:" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:87 +msgid "Ground plane: ``/World/defaultGroundPlane``" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:88 +msgid "Light source: ``/World/Light``" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:89 +msgid "Cartpole: ``{ENV_REGEX_NS}/Robot``" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:91 +msgid "As we learned earlier, Omniverse creates a graph of prims in the USD stage. The prim paths are used to specify the location of the prim in the graph. The ground plane and light source are specified using absolute paths, while the cartpole is specified using a relative path. The relative path is specified using the ``ENV_REGEX_NS`` variable, which is a special variable that is replaced with the environment name during scene creation. Any entity that has the ``ENV_REGEX_NS`` variable in its prim path will be cloned for each environment. This path is replaced by the scene object with ``/World/envs/env_{i}`` where ``i`` is the environment index." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:101 +msgid "Scene instantiation" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:103 +msgid "Unlike before where we called the ``design_scene`` function to create the scene, we now create an instance of the :class:`scene.InteractiveScene` class and pass in the configuration object to its constructor. While creating the configuration instance of ``CartpoleSceneCfg`` we specify how many environment copies we want to create using the ``num_envs`` argument. This will be used to clone the scene for each environment." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:115 +msgid "Accessing scene elements" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:117 +msgid "Similar to how entities were accessed from a dictionary in the previous tutorials, the scene elements can be accessed from the :class:`InteractiveScene` object using the ``[]`` operator. The operator takes in a string key and returns the corresponding entity. The key is specified through the configuration class for each entity. For example, the cartpole is specified using the key ``\"cartpole\"`` in the configuration class." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:129 +msgid "Running the simulation loop" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:131 +msgid "The rest of the script looks similar to previous scripts that interfaced with :class:`assets.Articulation`, with a few small differences in the methods called:" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:134 +msgid ":meth:`assets.Articulation.reset` ⟶ :meth:`scene.InteractiveScene.reset`" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:135 +msgid ":meth:`assets.Articulation.write_data_to_sim` ⟶ :meth:`scene.InteractiveScene.write_data_to_sim`" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:136 +msgid ":meth:`assets.Articulation.update` ⟶ :meth:`scene.InteractiveScene.update`" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:138 +msgid "Under the hood, the methods of :class:`scene.InteractiveScene` call the corresponding methods of the entities in the scene." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:143 +msgid "The Code Execution" +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:145 +msgid "Let's run the script to simulate 32 cartpoles in the scene. We can do this by passing the ``--num_envs`` argument to the script." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:152 +msgid "This should open a stage with 32 cartpoles swinging around randomly. You can use the mouse to rotate the camera and the arrow keys to move around the scene." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:155 +msgid "In this tutorial, we saw how to use :class:`scene.InteractiveScene` to create a scene with multiple assets. We also saw how to use the ``num_envs`` argument to clone the scene for multiple environments." +msgstr "" + +#: ../../source/tutorials/02_scene/create_scene.rst:159 +msgid "There are many more example usages of the :class:`scene.InteractiveSceneCfg` in the tasks found under the ``omni.isaac.lab_tasks`` extension. Please check out the source code to see how they are used for more complex scenes." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/02_scene/index.pot b/docs/_build/gettext/source/tutorials/02_scene/index.pot new file mode 100644 index 0000000000..f33c53f438 --- /dev/null +++ b/docs/_build/gettext/source/tutorials/02_scene/index.pot @@ -0,0 +1,25 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/02_scene/index.rst:2 +msgid "Creating a Scene" +msgstr "" + +#: ../../source/tutorials/02_scene/index.rst:4 +msgid "With the basic concepts of the framework covered, the tutorials move to a more intuitive scene interface that uses the :class:`~omni.isaac.lab.scene.InteractiveScene` class. This class provides a higher level abstraction for creating scenes easily." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/03_envs/create_direct_rl_env.pot b/docs/_build/gettext/source/tutorials/03_envs/create_direct_rl_env.pot new file mode 100644 index 0000000000..c76096e894 --- /dev/null +++ b/docs/_build/gettext/source/tutorials/03_envs/create_direct_rl_env.pot @@ -0,0 +1,181 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:5 +msgid "Creating a Direct Workflow RL Environment" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:9 +msgid "In addition to the :class:`envs.ManagerBasedRLEnv` class, which encourages the use of configuration classes for more modular environments, the :class:`~omni.isaac.lab.envs.DirectRLEnv` class allows for more direct control in the scripting of environment." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:13 +msgid "Instead of using Manager classes for defining rewards and observations, the direct workflow tasks implement the full reward and observation functions directly in the task script. This allows for more control in the implementation of the methods, such as using pytorch jit features, and provides a less abstracted framework that makes it easier to find the various pieces of code." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:19 +msgid "In this tutorial, we will configure the cartpole environment using the direct workflow implementation to create a task for balancing the pole upright. We will learn how to specify the task using by implementing functions for scene creation, actions, resets, rewards and observations." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:25 +msgid "The Code" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:27 +msgid "For this tutorial, we use the cartpole environment defined in ``omni.isaac.lab_tasks.direct.cartpole`` module." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:0 +msgid "Code for cartpole_env.py" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:38 +msgid "The Code Explained" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:40 +msgid "Similar to the manager-based environments, a configuration class is defined for the task to hold settings for the simulation parameters, the scene, the actors, and the task. With the direct workflow implementation, the :class:`envs.DirectRLEnvCfg` class is used as the base class for configurations. Since the direct workflow implementation does not use Action and Observation managers, the task config should define the number of actions and observations for the environment." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:55 +msgid "The config class can also be used to define task-specific attributes, such as scaling for reward terms and thresholds for reset conditions." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:74 +msgid "When creating a new environment, the code should define a new class that inherits from :class:`~omni.isaac.lab.envs.DirectRLEnv`." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:84 +msgid "The class can also hold class variables that are accessible by all functions in the class, including functions for applying actions, computing resets, rewards, and observations." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:88 +msgid "Scene Creation" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:90 +msgid "In contrast to manager-based environments where the scene creation is taken care of by the framework, the direct workflow implementation provides flexibility for users to implement their own scene creation function. This includes adding actors into the stage, cloning the environments, filtering collisions between the environments, adding the actors into the scene, and adding any additional props to the scene, such as ground plane and lights. These operations should be implemented in the ``_setup_scene(self)`` method." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:102 +msgid "Defining Rewards" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:104 +msgid "Reward function should be defined in the ``_get_rewards(self)`` API, which returns the reward buffer as a return value. Within this function, the task is free to implement the logic of the reward function. In this example, we implement a Pytorch JIT function that computes the various components of the reward function." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:149 +msgid "Defining Observations" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:151 +msgid "The observation buffer should be computed in the ``_get_observations(self)`` function, which constructs the observation buffer for the environment. At the end of this API, a dictionary should be returned that contains ``policy`` as the key, and the full observation buffer as the value. For asymmetric policies, the dictionary should also include the key ``critic`` and the states buffer as the value." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:162 +msgid "Computing Dones and Performing Resets" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:164 +msgid "Populating the ``dones`` buffer should be done in the ``_get_dones(self)`` method. This method is free to implement logic that computes which environments would need to be reset and which environments have reached the episode length limit. Both results should be returned by the ``_get_dones(self)`` function, in the form of a tuple of boolean tensors." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:173 +msgid "Once the indices for environments requiring reset have been computed, the ``_reset_idx(self, env_ids)`` function performs the reset operations on those environments. Within this function, new states for the environments requiring reset should be set directly into simulation." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:182 +msgid "Applying Actions" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:184 +msgid "There are two APIs that are designed for working with actions. The ``_pre_physics_step(self, actions)`` takes in actions from the policy as an argument and is called once per RL step, prior to taking any physics steps. This function can be used to process the actions buffer from the policy and cache the data in a class variable for the environment." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:192 +msgid "The ``_apply_action(self)`` API is called ``decimation`` number of times for each RL step, prior to taking each physics step. This provides more flexibility for environments where actions should be applied for each physics step." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:202 +msgid "The Code Execution" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:204 +msgid "To run training for the direct workflow Cartpole environment, we can use the following command:" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:210 +msgid "All direct workflow tasks have the suffix ``-Direct`` added to the task name to differentiate the implementation style." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:214 +msgid "Domain Randomization" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:216 +msgid "In the direct workflow, domain randomization configuration uses the :class:`~omni.isaac.lab.utils.configclass` module to specify a configuration class consisting of :class:`~managers.EventTermCfg` variables." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:219 +msgid "Below is an example of a configuration class for domain randomization:" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:259 +msgid "Each ``EventTerm`` object is of the :class:`~managers.EventTermCfg` class and takes in a ``func`` parameter for specifying the function to call during randomization, a ``mode`` parameter, which can be ``startup``, ``reset`` or ``interval``. THe ``params`` dictionary should provide the necessary arguments to the function that is specified in the ``func`` parameter. Functions specified as ``func`` for the ``EventTerm`` can be found in the :class:`~envs.mdp.events` module." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:265 +msgid "Note that as part of the ``\"asset_cfg\": SceneEntityCfg(\"robot\", body_names=\".*\")`` parameter, the name of the actor ``\"robot\"`` is provided, along with the body or joint names specified as a regex expression, which will be the actors and bodies/joints that will have randomization applied." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:269 +msgid "Once the ``configclass`` for the randomization terms have been set up, the class must be added to the base config class for the task and be assigned to the variable ``events``." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:280 +msgid "Action and Observation Noise" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:282 +msgid "Actions and observation noise can also be added using the :class:`~utils.configclass` module. Action and observation noise configs must be added to the main task config using the ``action_noise_model`` and ``observation_noise_model`` variables:" +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:304 +msgid ":class:`~.utils.noise.NoiseModelWithAdditiveBiasCfg` can be used to sample both uncorrelated noise per step as well as correlated noise that is re-sampled at reset time." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:307 +msgid "The ``noise_cfg`` term specifies the Gaussian distribution that will be sampled at each step for all environments. This noise will be added to the corresponding actions and observations buffers at every step." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:311 +msgid "The ``bias_noise_cfg`` term specifies the Gaussian distribution for the correlated noise that will be sampled at reset time for the environments being reset. The same noise will be applied each step for the remaining of the episode for the environments and resampled at the next reset." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:316 +msgid "If only per-step noise is desired, :class:`~utils.noise.GaussianNoiseCfg` can be used to specify an additive Gaussian distribution that adds the sampled noise to the input buffer." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:328 +msgid "In this tutorial, we learnt how to create a direct workflow task environment for reinforcement learning. We do this by extending the base environment to include the scene setup, actions, dones, reset, reward and observaion functions." +msgstr "" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:331 +msgid "While it is possible to manually create an instance of :class:`~omni.isaac.lab.envs.DirectRLEnv` class for a desired task, this is not scalable as it requires specialized scripts for each task. Thus, we exploit the :meth:`gymnasium.make` function to create the environment with the gym interface. We will learn how to do this in the next tutorial." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/03_envs/create_manager_base_env.pot b/docs/_build/gettext/source/tutorials/03_envs/create_manager_base_env.pot new file mode 100644 index 0000000000..e0bea1178d --- /dev/null +++ b/docs/_build/gettext/source/tutorials/03_envs/create_manager_base_env.pot @@ -0,0 +1,197 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:5 +msgid "Creating a Manager-Based Base Environment" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:9 +msgid "Environments bring together different aspects of the simulation such as the scene, observations and actions spaces, reset events etc. to create a coherent interface for various applications. In Isaac Lab, manager-based environments are implemented as :class:`envs.ManagerBasedEnv` and :class:`envs.ManagerBasedRLEnv` classes. The two classes are very similar, but :class:`envs.ManagerBasedRLEnv` is useful for reinforcement learning tasks and contains rewards, terminations, curriculum and command generation. The :class:`envs.ManagerBasedEnv` class is useful for traditional robot control and doesn't contain rewards and terminations." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:18 +msgid "In this tutorial, we will look at the base class :class:`envs.ManagerBasedEnv` and its corresponding configuration class :class:`envs.ManagerBasedEnvCfg` for the manager-based workflow. We will use the cartpole environment from earlier to illustrate the different components in creating a new :class:`envs.ManagerBasedEnv` environment." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:26 +msgid "The Code" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:28 +msgid "The tutorial corresponds to the ``create_cartpole_base_env`` script in the ``source/standalone/tutorials/03_envs`` directory." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:0 +msgid "Code for create_cartpole_base_env.py" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:41 +msgid "The Code Explained" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:43 +msgid "The base class :class:`envs.ManagerBasedEnv` wraps around many intricacies of the simulation interaction and provides a simple interface for the user to run the simulation and interact with it. It is composed of the following components:" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:47 +msgid ":class:`scene.InteractiveScene` - The scene that is used for the simulation." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:48 +msgid ":class:`managers.ActionManager` - The manager that handles actions." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:49 +msgid ":class:`managers.ObservationManager` - The manager that handles observations." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:50 +msgid ":class:`managers.EventManager` - The manager that schedules operations (such as domain randomization) at specified simulation events. For instance, at startup, on resets, or periodic intervals." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:53 +msgid "By configuring these components, the user can create different variations of the same environment with minimal effort. In this tutorial, we will go through the different components of the :class:`envs.ManagerBasedEnv` class and how to configure them to create a new environment." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:58 +msgid "Designing the scene" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:60 +msgid "The first step in creating a new environment is to configure its scene. For the cartpole environment, we will be using the scene from the previous tutorial. Thus, we omit the scene configuration here. For more details on how to configure a scene, see :ref:`tutorial-interactive-scene`." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:66 +msgid "Defining actions" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:68 +msgid "In the previous tutorial, we directly input the action to the cartpole using the :meth:`assets.Articulation.set_joint_effort_target` method. In this tutorial, we will use the :class:`managers.ActionManager` to handle the actions." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:72 +msgid "The action manager can comprise of multiple :class:`managers.ActionTerm`. Each action term is responsible for applying *control* over a specific aspect of the environment. For instance, for robotic arm, we can have two action terms -- one for controlling the joints of the arm, and the other for controlling the gripper. This composition allows the user to define different control schemes for different aspects of the environment." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:78 +msgid "In the cartpole environment, we want to control the force applied to the cart to balance the pole. Thus, we will create an action term that controls the force applied to the cart." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:86 +msgid "Defining observations" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:88 +msgid "While the scene defines the state of the environment, the observations define the states that are observable by the agent. These observations are used by the agent to make decisions on what actions to take. In Isaac Lab, the observations are computed by the :class:`managers.ObservationManager` class." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:93 +msgid "Similar to the action manager, the observation manager can comprise of multiple observation terms. These are further grouped into observation groups which are used to define different observation spaces for the environment. For instance, for hierarchical control, we may want to define two observation groups -- one for the low level controller and the other for the high level controller. It is assumed that all the observation terms in a group have the same dimensions." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:99 +msgid "For this tutorial, we will only define one observation group named ``\"policy\"``. While not completely prescriptive, this group is a necessary requirement for various wrappers in Isaac Lab. We define a group by inheriting from the :class:`managers.ObservationGroupCfg` class. This class collects different observation terms and help define common properties for the group, such as enabling noise corruption or concatenating the observations into a single tensor." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:105 +msgid "The individual terms are defined by inheriting from the :class:`managers.ObservationTermCfg` class. This class takes in the :attr:`managers.ObservationTermCfg.func` that specifies the function or callable class that computes the observation for that term. It includes other parameters for defining the noise model, clipping, scaling, etc. However, we leave these parameters to their default values for this tutorial." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:116 +msgid "Defining events" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:118 +msgid "At this point, we have defined the scene, actions and observations for the cartpole environment. The general idea for all these components is to define the configuration classes and then pass them to the corresponding managers. The event manager is no different." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:122 +msgid "The :class:`managers.EventManager` class is responsible for events corresponding to changes in the simulation state. This includes resetting (or randomizing) the scene, randomizing physical properties (such as mass, friction, etc.), and varying visual properties (such as colors, textures, etc.). Each of these are specified through the :class:`managers.EventTermCfg` class, which takes in the :attr:`managers.EventTermCfg.func` that specifies the function or callable class that performs the event." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:129 +msgid "Additionally, it expects the **mode** of the event. The mode specifies when the event term should be applied. It is possible to specify your own mode. For this, you'll need to adapt the :class:`~envs.ManagerBasedEnv` class. However, out of the box, Isaac Lab provides three commonly used modes:" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:133 +msgid "``\"startup\"`` - Event that takes place only once at environment startup." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:134 +msgid "``\"reset\"`` - Event that occurs on environment termination and reset." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:135 +msgid "``\"interval\"`` - Event that are executed at a given interval, i.e., periodically after a certain number of steps." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:137 +msgid "For this example, we define events that randomize the pole's mass on startup. This is done only once since this operation is expensive and we don't want to do it on every reset. We also create an event to randomize the initial joint state of the cartpole and the pole at every reset." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:146 +msgid "Tying it all together" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:148 +msgid "Having defined the scene and manager configurations, we can now define the environment configuration through the :class:`envs.ManagerBasedEnvCfg` class. This class takes in the scene, action, observation and event configurations." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:152 +msgid "In addition to these, it also takes in the :attr:`envs.ManagerBasedEnvCfg.sim` which defines the simulation parameters such as the timestep, gravity, etc. This is initialized to the default values, but can be modified as needed. We recommend doing so by defining the :meth:`__post_init__` method in the :class:`envs.ManagerBasedEnvCfg` class, which is called after the configuration is initialized." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:162 +msgid "Running the simulation" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:164 +msgid "Lastly, we revisit the simulation execution loop. This is now much simpler since we have abstracted away most of the details into the environment configuration. We only need to call the :meth:`envs.ManagerBasedEnv.reset` method to reset the environment and :meth:`envs.ManagerBasedEnv.step` method to step the environment. Both these functions return the observation and an info dictionary which may contain additional information provided by the environment. These can be used by an agent for decision-making." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:171 +msgid "The :class:`envs.ManagerBasedEnv` class does not have any notion of terminations since that concept is specific for episodic tasks. Thus, the user is responsible for defining the termination condition for the environment. In this tutorial, we reset the simulation at regular intervals." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:179 +msgid "An important thing to note above is that the entire simulation loop is wrapped inside the :meth:`torch.inference_mode` context manager. This is because the environment uses PyTorch operations under-the-hood and we want to ensure that the simulation is not slowed down by the overhead of PyTorch's autograd engine and gradients are not computed for the simulation operations." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:187 +msgid "The Code Execution" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:189 +msgid "To run the base environment made in this tutorial, you can use the following command:" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:196 +msgid "This should open a stage with a ground plane, light source, and cartpoles. The simulation should be playing with random actions on the cartpole. Additionally, it opens a UI window on the bottom right corner of the screen named ``\"Isaac Lab\"``. This window contains different UI elements that can be used for debugging and visualization." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:201 +msgid "To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal where you started the simulation." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:204 +msgid "In this tutorial, we learned about the different managers that help define a base environment. We include more examples of defining the base environment in the ``source/standalone/tutorials/03_envs`` directory. For completeness, they can be run using the following commands:" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:217 +msgid "In the following tutorial, we will look at the :class:`envs.ManagerBasedRLEnv` class and how to use it to create a Markovian Decision Process (MDP)." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/03_envs/create_manager_rl_env.pot b/docs/_build/gettext/source/tutorials/03_envs/create_manager_rl_env.pot new file mode 100644 index 0000000000..eaf79f59bc --- /dev/null +++ b/docs/_build/gettext/source/tutorials/03_envs/create_manager_rl_env.pot @@ -0,0 +1,189 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:5 +msgid "Creating a Manager-Based RL Environment" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:9 +msgid "Having learnt how to create a base environment in :ref:`tutorial-create-manager-base-env`, we will now look at how to create a manager-based task environment for reinforcement learning." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:12 +msgid "The base environment is designed as an sense-act environment where the agent can send commands to the environment and receive observations from the environment. This minimal interface is sufficient for many applications such as traditional motion planning and controls. However, many applications require a task-specification which often serves as the learning objective for the agent. For instance, in a navigation task, the agent may be required to reach a goal location. To this end, we use the :class:`envs.ManagerBasedRLEnv` class which extends the base environment to include a task specification." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:19 +msgid "Similar to other components in Isaac Lab, instead of directly modifying the base class :class:`envs.ManagerBasedRLEnv`, we encourage users to simply implement a configuration :class:`envs.ManagerBasedRLEnvCfg` for their task environment. This practice allows us to separate the task specification from the environment implementation, making it easier to reuse components of the same environment for different tasks." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:24 +msgid "In this tutorial, we will configure the cartpole environment using the :class:`envs.ManagerBasedRLEnvCfg` to create a manager-based task for balancing the pole upright. We will learn how to specify the task using reward terms, termination criteria, curriculum and commands." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:30 +msgid "The Code" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:32 +msgid "For this tutorial, we use the cartpole environment defined in ``omni.isaac.lab_tasks.manager_based.classic.cartpole`` module." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:0 +msgid "Code for cartpole_env_cfg.py" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:42 +msgid "The script for running the environment ``run_cartpole_rl_env.py`` is present in the ``isaaclab/source/standalone/tutorials/03_envs`` directory. The script is similar to the ``cartpole_base_env.py`` script in the previous tutorial, except that it uses the :class:`envs.ManagerBasedRLEnv` instead of the :class:`envs.ManagerBasedEnv`." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:0 +msgid "Code for run_cartpole_rl_env.py" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:57 +msgid "The Code Explained" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:59 +msgid "We already went through parts of the above in the :ref:`tutorial-create-manager-base-env` tutorial to learn about how to specify the scene, observations, actions and events. Thus, in this tutorial, we will focus only on the RL components of the environment." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:63 +msgid "In Isaac Lab, we provide various implementations of different terms in the :mod:`envs.mdp` module. We will use some of these terms in this tutorial, but users are free to define their own terms as well. These are usually placed in their task-specific sub-package (for instance, in :mod:`omni.isaac.lab_tasks.manager_based.classic.cartpole.mdp`)." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:70 +msgid "Defining rewards" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:72 +msgid "The :class:`managers.RewardManager` is used to compute the reward terms for the agent. Similar to the other managers, its terms are configured using the :class:`managers.RewardTermCfg` class. The :class:`managers.RewardTermCfg` class specifies the function or callable class that computes the reward as well as the weighting associated with it. It also takes in dictionary of arguments, ``\"params\"`` that are passed to the reward function when it is called." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:78 +msgid "For the cartpole task, we will use the following reward terms:" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:80 +msgid "**Alive Reward**: Encourage the agent to stay alive for as long as possible." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:81 +msgid "**Terminating Reward**: Similarly penalize the agent for terminating." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:82 +msgid "**Pole Angle Reward**: Encourage the agent to keep the pole at the desired upright position." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:83 +msgid "**Cart Velocity Reward**: Encourage the agent to keep the cart velocity as small as possible." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:84 +msgid "**Pole Velocity Reward**: Encourage the agent to keep the pole velocity as small as possible." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:91 +msgid "Defining termination criteria" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:93 +msgid "Most learning tasks happen over a finite number of steps that we call an episode. For instance, in the cartpole task, we want the agent to balance the pole for as long as possible. However, if the agent reaches an unstable or unsafe state, we want to terminate the episode. On the other hand, if the agent is able to balance the pole for a long time, we want to terminate the episode and start a new one so that the agent can learn to balance the pole from a different starting configuration." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:99 +msgid "The :class:`managers.TerminationsCfg` configures what constitutes for an episode to terminate. In this example, we want the task to terminate when either of the following conditions is met:" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:102 +msgid "**Episode Length** The episode length is greater than the defined max_episode_length" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:103 +msgid "**Cart out of bounds** The cart goes outside of the bounds [-3, 3]" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:105 +msgid "The flag :attr:`managers.TerminationsCfg.time_out` specifies whether the term is a time-out (truncation) term or terminated term. These are used to indicate the two types of terminations as described in `Gymnasium's documentation `_." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:114 +msgid "Defining commands" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:116 +msgid "For various goal-conditioned tasks, it is useful to specify the goals or commands for the agent. These are handled through the :class:`managers.CommandManager`. The command manager handles resampling and updating the commands at each step. It can also be used to provide the commands as an observation to the agent." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:120 +msgid "For this simple task, we do not use any commands. This is specified by using a command term with the :class:`envs.mdp.NullCommandCfg` configuration. However, you can see an example of command definitions in the locomotion or manipulation tasks." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:129 +msgid "Defining curriculum" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:131 +msgid "Often times when training a learning agent, it helps to start with a simple task and gradually increase the tasks's difficulty as the agent training progresses. This is the idea behind curriculum learning. In Isaac Lab, we provide a :class:`managers.CurriculumManager` class that can be used to define a curriculum for your environment." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:135 +msgid "In this tutorial we don't implement a curriculum for simplicity, but you can see an example of a curriculum definition in the other locomotion or manipulation tasks. We use a simple pass-through curriculum to define a curriculum manager that does not modify the environment." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:144 +msgid "Tying it all together" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:146 +msgid "With all the above components defined, we can now create the :class:`ManagerBasedRLEnvCfg` configuration for the cartpole environment. This is similar to the :class:`ManagerBasedEnvCfg` defined in :ref:`tutorial-create-manager-base-env`, only with the added RL components explained in the above sections." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:155 +msgid "Running the simulation loop" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:157 +msgid "Coming back to the ``run_cartpole_rl_env.py`` script, the simulation loop is similar to the previous tutorial. The only difference is that we create an instance of :class:`envs.ManagerBasedRLEnv` instead of the :class:`envs.ManagerBasedEnv`. Consequently, now the :meth:`envs.ManagerBasedRLEnv.step` method returns additional signals such as the reward and termination status. The information dictionary also maintains logging of quantities such as the reward contribution from individual terms, the termination status of each term, the episode length etc." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:169 +msgid "The Code Execution" +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:171 +msgid "Similar to the previous tutorial, we can run the environment by executing the ``run_cartpole_rl_env.py`` script." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:178 +msgid "This should open a similar simulation as in the previous tutorial. However, this time, the environment returns more signals that specify the reward and termination status. Additionally, the individual environments reset themselves when they terminate based on the termination criteria specified in the configuration." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:183 +msgid "To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal where you started the simulation." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:186 +msgid "In this tutorial, we learnt how to create a task environment for reinforcement learning. We do this by extending the base environment to include the rewards, terminations, commands and curriculum terms. We also learnt how to use the :class:`envs.ManagerBasedRLEnv` class to run the environment and receive various signals from it." +msgstr "" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:191 +msgid "While it is possible to manually create an instance of :class:`envs.ManagerBasedRLEnv` class for a desired task, this is not scalable as it requires specialized scripts for each task. Thus, we exploit the :meth:`gymnasium.make` function to create the environment with the gym interface. We will learn how to do this in the next tutorial." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/03_envs/index.pot b/docs/_build/gettext/source/tutorials/03_envs/index.pot new file mode 100644 index 0000000000..521bfa8ab3 --- /dev/null +++ b/docs/_build/gettext/source/tutorials/03_envs/index.pot @@ -0,0 +1,25 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/03_envs/index.rst:2 +msgid "Designing an Environment" +msgstr "" + +#: ../../source/tutorials/03_envs/index.rst:4 +msgid "The following tutorials introduce the concept of manager-based environments: :class:`~omni.isaac.lab.envs.ManagerBasedEnv` and its derivative :class:`~omni.isaac.lab.envs.ManagerBasedRLEnv`, as well as the direct workflow base class :class:`~omni.isaac.lab.envs.DirectRLEnv`. These environments bring-in together different aspects of the framework to create a simulation environment for agent interaction." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/03_envs/register_rl_env_gym.pot b/docs/_build/gettext/source/tutorials/03_envs/register_rl_env_gym.pot new file mode 100644 index 0000000000..30672071e0 --- /dev/null +++ b/docs/_build/gettext/source/tutorials/03_envs/register_rl_env_gym.pot @@ -0,0 +1,141 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:2 +msgid "Registering an Environment" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:6 +msgid "In the previous tutorial, we learned how to create a custom cartpole environment. We manually created an instance of the environment by importing the environment class and its configuration class." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:0 +msgid "Environment creation in the previous tutorial" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:18 +msgid "While straightforward, this approach is not scalable as we have a large suite of environments. In this tutorial, we will show how to use the :meth:`gymnasium.register` method to register environments with the ``gymnasium`` registry. This allows us to create the environment through the :meth:`gymnasium.make` function." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:0 +msgid "Environment creation in this tutorial" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:33 +msgid "The Code" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:35 +msgid "The tutorial corresponds to the ``random_agent.py`` script in the ``source/standalone/environments`` directory." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:0 +msgid "Code for random_agent.py" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:47 +msgid "The Code Explained" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:49 +msgid "The :class:`envs.ManagerBasedRLEnv` class inherits from the :class:`gymnasium.Env` class to follow a standard interface. However, unlike the traditional Gym environments, the :class:`envs.ManagerBasedRLEnv` implements a *vectorized* environment. This means that multiple environment instances are running simultaneously in the same process, and all the data is returned in a batched fashion." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:55 +msgid "Similarly, the :class:`envs.DirectRLEnv` class also inherits from the :class:`gymnasium.Env` class for the direct workflow." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:59 +msgid "Using the gym registry" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:61 +msgid "To register an environment, we use the :meth:`gymnasium.register` method. This method takes in the environment name, the entry point to the environment class, and the entry point to the environment configuration class." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:66 +msgid "The :mod:`gymnasium` registry is a global registry. Hence, it is important to ensure that the environment names are unique. Otherwise, the registry will throw an error when registering the environment." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:71 +msgid "Manager-Based Environments" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:73 +msgid "For manager-based environments, the following shows the registration call for the cartpole environment in the ``omni.isaac.lab_tasks.manager_based.classic.cartpole`` sub-package:" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:81 +msgid "The ``id`` argument is the name of the environment. As a convention, we name all the environments with the prefix ``Isaac-`` to make it easier to search for them in the registry. The name of the environment is typically followed by the name of the task, and then the name of the robot. For instance, for legged locomotion with ANYmal C on flat terrain, the environment is called ``Isaac-Velocity-Flat-Anymal-C-v0``. The version number ``v`` is typically used to specify different variations of the same environment. Otherwise, the names of the environments can become too long and difficult to read." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:89 +msgid "The ``entry_point`` argument is the entry point to the environment class. The entry point is a string of the form ``:``. In the case of the cartpole environment, the entry point is ``omni.isaac.lab.envs:ManagerBasedRLEnv``. The entry point is used to import the environment class when creating the environment instance." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:94 +msgid "The ``env_cfg_entry_point`` argument specifies the default configuration for the environment. The default configuration is loaded using the :meth:`omni.isaac.lab_tasks.utils.parse_env_cfg` function. It is then passed to the :meth:`gymnasium.make` function to create the environment instance. The configuration entry point can be both a YAML file or a python configuration class." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:100 +msgid "Direct Environments" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:102 +msgid "For direct-based environments, the environment registration follows a similar pattern. Instead of registering the environment's entry point as the :class:`~omni.isaac.lab.envs.ManagerBasedRLEnv` class, we register the environment's entry point as the implementation class of the environment. Additionally, we add the suffix ``-Direct`` to the environment name to differentiate it from the manager-based environments." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:108 +msgid "As an example, the following shows the registration call for the cartpole environment in the ``omni.isaac.lab_tasks.direct.cartpole`` sub-package:" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:118 +msgid "Creating the environment" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:120 +msgid "To inform the ``gym`` registry with all the environments provided by the ``omni.isaac.lab_tasks`` extension, we must import the module at the start of the script. This will execute the ``__init__.py`` file which iterates over all the sub-packages and registers their respective environments." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:129 +msgid "In this tutorial, the task name is read from the command line. The task name is used to parse the default configuration as well as to create the environment instance. In addition, other parsed command line arguments such as the number of environments, the simulation device, and whether to render, are used to override the default configuration." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:139 +msgid "Once creating the environment, the rest of the execution follows the standard resetting and stepping." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:143 +msgid "The Code Execution" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:145 +msgid "Now that we have gone through the code, let's run the script and see the result:" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:152 +msgid "This should open a stage with everything similar to the :ref:`tutorial-create-manager-rl-env` tutorial. To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal." +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:155 +msgid "In addition, you can also change the simulation device from GPU to CPU by adding the ``--cpu`` flag:" +msgstr "" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:161 +msgid "With the ``--cpu`` flag, the simulation will run on the CPU. This is useful for debugging the simulation. However, the simulation will run much slower than on the GPU." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/03_envs/run_rl_training.pot b/docs/_build/gettext/source/tutorials/03_envs/run_rl_training.pot new file mode 100644 index 0000000000..73f9d6f049 --- /dev/null +++ b/docs/_build/gettext/source/tutorials/03_envs/run_rl_training.pot @@ -0,0 +1,149 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:2 +msgid "Training with an RL Agent" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:6 +msgid "In the previous tutorials, we covered how to define an RL task environment, register it into the ``gym`` registry, and interact with it using a random agent. We now move on to the next step: training an RL agent to solve the task." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:10 +msgid "Although the :class:`envs.ManagerBasedRLEnv` conforms to the :class:`gymnasium.Env` interface, it is not exactly a ``gym`` environment. The input and outputs of the environment are not numpy arrays, but rather based on torch tensors with the first dimension being the number of environment instances." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:15 +msgid "Additionally, most RL libraries expect their own variation of an environment interface. For example, `Stable-Baselines3`_ expects the environment to conform to its `VecEnv API`_ which expects a list of numpy arrays instead of a single tensor. Similarly, `RSL-RL`_, `RL-Games`_ and `SKRL`_ expect a different interface. Since there is no one-size-fits-all solution, we do not base the :class:`envs.ManagerBasedRLEnv` on any particular learning library. Instead, we implement wrappers to convert the environment into the expected interface. These are specified in the :mod:`omni.isaac.lab_tasks.utils.wrappers` module." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:23 +msgid "In this tutorial, we will use `Stable-Baselines3`_ to train an RL agent to solve the cartpole balancing task." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:28 +msgid "Wrapping the environment with the respective learning framework's wrapper should happen in the end, i.e. after all other wrappers have been applied. This is because the learning framework's wrapper modifies the interpretation of environment's APIs which may no longer be compatible with :class:`gymnasium.Env`." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:33 +msgid "The Code" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:35 +msgid "For this tutorial, we use the training script from `Stable-Baselines3`_ workflow in the ``source/standalone/workflows/sb3`` directory." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:0 +msgid "Code for train.py" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:47 +msgid "The Code Explained" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:51 +msgid "Most of the code above is boilerplate code to create logging directories, saving the parsed configurations, and setting up different Stable-Baselines3 components. For this tutorial, the important part is creating the environment and wrapping it with the Stable-Baselines3 wrapper." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:55 +msgid "There are three wrappers used in the code above:" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:57 +msgid ":class:`gymnasium.wrappers.RecordVideo`: This wrapper records a video of the environment and saves it to the specified directory. This is useful for visualizing the agent's behavior during training." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:60 +msgid ":class:`wrappers.sb3.Sb3VecEnvWrapper`: This wrapper converts the environment into a Stable-Baselines3 compatible environment." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:62 +msgid "`stable_baselines3.common.vec_env.VecNormalize`_: This wrapper normalizes the environment's observations and rewards." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:65 +msgid "Each of these wrappers wrap around the previous wrapper by following ``env = wrapper(env, *args, **kwargs)`` repeatedly. The final environment is then used to train the agent. For more information on how these wrappers work, please refer to the :ref:`how-to-env-wrappers` documentation." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:70 +msgid "The Code Execution" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:72 +msgid "We train a PPO agent from Stable-Baselines3 to solve the cartpole balancing task." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:75 +msgid "Training the agent" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:77 +msgid "There are three main ways to train the agent. Each of them has their own advantages and disadvantages. It is up to you to decide which one you prefer based on your use case." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:81 +msgid "Headless execution" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:83 +msgid "If the ``--headless`` flag is set, the simulation is not rendered during training. This is useful when training on a remote server or when you do not want to see the simulation. Typically, it speeds up the training process since only physics simulation step is performed." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:93 +msgid "Headless execution with off-screen render" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:95 +msgid "Since the above command does not render the simulation, it is not possible to visualize the agent's behavior during training. To visualize the agent's behavior, we pass the ``--enable_cameras`` which enables off-screen rendering. Additionally, we pass the flag ``--video`` which records a video of the agent's behavior during training." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:104 +msgid "The videos are saved to the ``logs/sb3/Isaac-Cartpole-v0//videos`` directory. You can open these videos using any video player." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:108 +msgid "Interactive execution" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:112 +msgid "While the above two methods are useful for training the agent, they don't allow you to interact with the simulation to see what is happening. In this case, you can ignore the ``--headless`` flag and run the training script as follows:" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:120 +msgid "This will open the Isaac Sim window and you can see the agent training in the environment. However, this will slow down the training process since the simulation is rendered on the screen. As a workaround, you can switch between different render modes in the ``\"Isaac Lab\"`` window that is docked on the bottom-right corner of the screen. To learn more about these render modes, please check the :class:`sim.SimulationContext.RenderMode` class." +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:127 +msgid "Viewing the logs" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:129 +msgid "On a separate terminal, you can monitor the training progress by executing the following command:" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:137 +msgid "Playing the trained agent" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:139 +msgid "Once the training is complete, you can visualize the trained agent by executing the following command:" +msgstr "" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:146 +msgid "The above command will load the latest checkpoint from the ``logs/sb3/Isaac-Cartpole-v0`` directory. You can also specify a specific checkpoint by passing the ``--checkpoint`` flag." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/04_sensors/add_sensors_on_robot.pot b/docs/_build/gettext/source/tutorials/04_sensors/add_sensors_on_robot.pot new file mode 100644 index 0000000000..ee6ed6e341 --- /dev/null +++ b/docs/_build/gettext/source/tutorials/04_sensors/add_sensors_on_robot.pot @@ -0,0 +1,185 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:4 +msgid "Adding sensors on a robot" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:9 +msgid "While the asset classes allow us to create and simulate the physical embodiment of the robot, sensors help in obtaining information about the environment. They typically update at a lower frequency than the simulation and are useful for obtaining different proprioceptive and exteroceptive information. For example, a camera sensor can be used to obtain the visual information of the environment, and a contact sensor can be used to obtain the contact information of the robot with the environment." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:16 +msgid "In this tutorial, we will see how to add different sensors to a robot. We will use the ANYmal-C robot for this tutorial. The ANYmal-C robot is a quadrupedal robot with 12 degrees of freedom. It has 4 legs, each with 3 degrees of freedom. The robot has the following sensors:" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:21 +msgid "A camera sensor on the head of the robot which provides RGB-D images" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:22 +msgid "A height scanner sensor that provides terrain height information" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:23 +msgid "Contact sensors on the feet of the robot that provide contact information" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:25 +msgid "We continue this tutorial from the previous tutorial on :ref:`tutorial-interactive-scene`, where we learned about the :class:`scene.InteractiveScene` class." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:30 +msgid "The Code" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:32 +msgid "The tutorial corresponds to the ``add_sensors_on_robot.py`` script in the ``source/standalone/tutorials/04_sensors`` directory." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:0 +msgid "Code for add_sensors_on_robot.py" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:45 +msgid "The Code Explained" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:47 +msgid "Similar to the previous tutorials, where we added assets to the scene, the sensors are also added to the scene using the scene configuration. All sensors inherit from the :class:`sensors.SensorBase` class and are configured through their respective config classes. Each sensor instance can define its own update period, which is the frequency at which the sensor is updated. The update period is specified in seconds through the :attr:`sensors.SensorBaseCfg.update_period` attribute." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:53 +msgid "Depending on the specified path and the sensor type, the sensors are attached to the prims in the scene. They may have an associated prim that is created in the scene or they may be attached to an existing prim. For instance, the camera sensor has a corresponding prim that is created in the scene, whereas for the contact sensor, the activating the contact reporting is a property on a rigid body prim." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:58 +msgid "In the following, we introduce the different sensors we use in this tutorial and how they are configured. For more description about them, please check the :mod:`sensors` module." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:62 +msgid "Camera sensor" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:64 +msgid "A camera is defined using the :class:`sensors.CameraCfg`. It is based on the USD Camera sensor and the different data types are captured using Omniverse Replicator API. Since it has a corresponding prim in the scene, the prims are created in the scene at the specified prim path." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:68 +msgid "The configuration of the camera sensor includes the following parameters:" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:70 +msgid ":attr:`~sensors.CameraCfg.spawn`: The type of USD camera to create. This can be either :class:`~sim.spawners.sensors.PinholeCameraCfg` or :class:`~sim.spawners.sensors.FisheyeCameraCfg`." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:72 +msgid ":attr:`~sensors.CameraCfg.offset`: The offset of the camera sensor from the parent prim." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:73 +msgid ":attr:`~sensors.CameraCfg.data_types`: The data types to capture. This can be ``rgb``, ``distance_to_image_plane``, ``normals``, or other types supported by the USD Camera sensor." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:76 +msgid "To attach an RGB-D camera sensor to the head of the robot, we specify an offset relative to the base frame of the robot. The offset is specified as a translation and rotation relative to the base frame, and the :attr:`~sensors.CameraCfg.OffsetCfg.convention` in which the offset is specified." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:80 +msgid "In the following, we show the configuration of the camera sensor used in this tutorial. We set the update period to 0.1s, which means that the camera sensor is updated at 10Hz. The prim path expression is set to ``{ENV_REGEX_NS}/Robot/base/front_cam`` where the ``{ENV_REGEX_NS}`` is the environment namespace, ``\"Robot\"`` is the name of the robot, ``\"base\"`` is the name of the prim to which the camera is attached, and ``\"front_cam\"`` is the name of the prim associated with the camera sensor." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:92 +msgid "Height scanner" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:94 +msgid "The height-scanner is implemented as a virtual sensor using the NVIDIA Warp ray-casting kernels. Through the :class:`sensors.RayCasterCfg`, we can specify the pattern of rays to cast and the meshes against which to cast the rays. Since they are virtual sensors, there is no corresponding prim created in the scene for them. Instead they are attached to a prim in the scene, which is used to specify the location of the sensor." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:100 +msgid "For this tutorial, the ray-cast based height scanner is attached to the base frame of the robot. The pattern of rays is specified using the :attr:`~sensors.RayCasterCfg.pattern` attribute. For a uniform grid pattern, we specify the pattern using :class:`~sensors.patterns.GridPatternCfg`. Since we only care about the height information, we do not need to consider the roll and pitch of the robot. Hence, we set the :attr:`~sensors.RayCasterCfg.attach_yaw_only` to true." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:106 +msgid "For the height-scanner, you can visualize the points where the rays hit the mesh. This is done by setting the :attr:`~sensors.SensorBaseCfg.debug_vis` attribute to true." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:109 +msgid "The entire configuration of the height-scanner is as follows:" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:117 +msgid "Contact sensor" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:119 +msgid "Contact sensors wrap around the PhysX contact reporting API to obtain the contact information of the robot with the environment. Since it relies of PhysX, the contact sensor expects the contact reporting API to be enabled on the rigid bodies of the robot. This can be done by setting the :attr:`~sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors` to true in the asset configuration." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:124 +msgid "Through the :class:`sensors.ContactSensorCfg`, it is possible to specify the prims for which we want to obtain the contact information. Additional flags can be set to obtain more information about the contact, such as the contact air time, contact forces between filtered prims, etc." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:128 +msgid "In this tutorial, we attach the contact sensor to the feet of the robot. The feet of the robot are named ``\"LF_FOOT\"``, ``\"RF_FOOT\"``, ``\"LH_FOOT\"``, and ``\"RF_FOOT\"``. We pass a Regex expression ``\".*_FOOT\"`` to simplify the prim path specification. This Regex expression matches all prims that end with ``\"_FOOT\"``." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:133 +msgid "We set the update period to 0 to update the sensor at the same frequency as the simulation. Additionally, for contact sensors, we can specify the history length of the contact information to store. For this tutorial, we set the history length to 6, which means that the contact information for the last 6 simulation steps is stored." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:138 +msgid "The entire configuration of the contact sensor is as follows:" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:146 +msgid "Running the simulation loop" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:148 +msgid "Similar to when using assets, the buffers and physics handles for the sensors are initialized only when the simulation is played, i.e., it is important to call ``sim.reset()`` after creating the scene." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:156 +msgid "Besides that, the simulation loop is similar to the previous tutorials. The sensors are updated as part of the scene update and they internally handle the updating of their buffers based on their update periods." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:160 +msgid "The data from the sensors can be accessed through their ``data`` attribute. As an example, we show how to access the data for the different sensors created in this tutorial:" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:170 +msgid "The Code Execution" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:172 +msgid "Now that we have gone through the code, let's run the script and see the result:" +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:179 +msgid "This command should open a stage with a ground plane, lights, and two quadrupedal robots. Around the robots, you should see red spheres that indicate the points where the rays hit the mesh. Additionally, you can switch the viewport to the camera view to see the RGB image captured by the camera sensor. Please check `here `_ for more information on how to switch the viewport to the camera view." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:185 +msgid "To stop the simulation, you can either close the window, or press ``Ctrl+C`` in the terminal." +msgstr "" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:187 +msgid "While in this tutorial, we went over creating and using different sensors, there are many more sensors available in the :mod:`sensors` module. We include minimal examples of using these sensors in the ``source/standalone/tutorials/04_sensors`` directory. For completeness, these scripts can be run using the following commands:" +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/04_sensors/index.pot b/docs/_build/gettext/source/tutorials/04_sensors/index.pot new file mode 100644 index 0000000000..a6784f9c8d --- /dev/null +++ b/docs/_build/gettext/source/tutorials/04_sensors/index.pot @@ -0,0 +1,25 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/04_sensors/index.rst:2 +msgid "Integrating Sensors" +msgstr "" + +#: ../../source/tutorials/04_sensors/index.rst:4 +msgid "The following tutorial shows you how to integrate sensors into the simulation environment. The tutorials introduce the :class:`~omni.isaac.lab.sensors.SensorBase` class and its derivatives such as :class:`~omni.isaac.lab.sensors.Camera` and :class:`~omni.isaac.lab.sensors.RayCaster`." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/05_controllers/index.pot b/docs/_build/gettext/source/tutorials/05_controllers/index.pot new file mode 100644 index 0000000000..0969c0b5c1 --- /dev/null +++ b/docs/_build/gettext/source/tutorials/05_controllers/index.pot @@ -0,0 +1,25 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/05_controllers/index.rst:2 +msgid "Using Motion Generators" +msgstr "" + +#: ../../source/tutorials/05_controllers/index.rst:4 +msgid "While the robots in the simulation environment can be controlled at the joint-level, the following tutorials show you how to use motion generators to control the robots at the task-level." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/05_controllers/run_diff_ik.pot b/docs/_build/gettext/source/tutorials/05_controllers/run_diff_ik.pot new file mode 100644 index 0000000000..8426058692 --- /dev/null +++ b/docs/_build/gettext/source/tutorials/05_controllers/run_diff_ik.pot @@ -0,0 +1,137 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:2 +msgid "Using a task-space controller" +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:6 +msgid "In the previous tutorials, we have joint-space controllers to control the robot. However, in many cases, it is more intuitive to control the robot using a task-space controller. For example, if we want to teleoperate the robot, it is easier to specify the desired end-effector pose rather than the desired joint positions." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:11 +msgid "In this tutorial, we will learn how to use a task-space controller to control the robot. We will use the :class:`controllers.DifferentialIKController` class to track a desired end-effector pose command." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:17 +msgid "The Code" +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:19 +msgid "The tutorial corresponds to the ``run_diff_ik.py`` script in the ``source/standalone/tutorials/05_controllers`` directory." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:0 +msgid "Code for run_diff_ik.py" +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:33 +msgid "The Code Explained" +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:35 +msgid "While using any task-space controller, it is important to ensure that the provided quantities are in the correct frames. When parallelizing environment instances, they are all existing in the same unique simulation world frame. However, typically, we want each environment itself to have its own local frame. This is accessible through the :attr:`scene.InteractiveScene.env_origins` attribute." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:41 +msgid "In our APIs, we use the following notation for frames:" +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:43 +msgid "The simulation world frame (denoted as ``w``), which is the frame of the entire simulation." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:44 +msgid "The local environment frame (denoted as ``e``), which is the frame of the local environment." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:45 +msgid "The robot's base frame (denoted as ``b``), which is the frame of the robot's base link." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:47 +msgid "Since the asset instances are not \"aware\" of the local environment frame, they return their states in the simulation world frame. Thus, we need to convert the obtained quantities to the local environment frame. This is done by subtracting the local environment origin from the obtained quantities." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:54 +msgid "Creating an IK controller" +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:56 +msgid "The :class:`~controllers.DifferentialIKController` class computes the desired joint positions for a robot to reach a desired end-effector pose. The included implementation performs the computation in a batched format and uses PyTorch operations. It supports different types of inverse kinematics solvers, including the damped least-squares method and the pseudo-inverse method. These solvers can be specified using the :attr:`~controllers.DifferentialIKControllerCfg.ik_method` argument. Additionally, the controller can handle commands as both relative and absolute poses." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:64 +msgid "In this tutorial, we will use the damped least-squares method to compute the desired joint positions. Additionally, since we want to track desired end-effector poses, we will use the absolute pose command mode." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:74 +msgid "Obtaining the robot's joint and body indices" +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:76 +msgid "The IK controller implementation is a computation-only class. Thus, it expects the user to provide the necessary information about the robot. This includes the robot's joint positions, current end-effector pose, and the Jacobian matrix." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:80 +msgid "While the attribute :attr:`assets.ArticulationData.joint_pos` provides the joint positions, we only want the joint positions of the robot's arm, and not the gripper. Similarly, while the attribute :attr:`assets.ArticulationData.body_state_w` provides the state of all the robot's bodies, we only want the state of the robot's end-effector. Thus, we need to index into these arrays to obtain the desired quantities." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:86 +msgid "For this, the articulation class provides the methods :meth:`~assets.Articulation.find_joints` and :meth:`~assets.Articulation.find_bodies`. These methods take in the names of the joints and bodies and return their corresponding indices." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:90 +msgid "While you may directly use these methods to obtain the indices, we recommend using the :attr:`~managers.SceneEntityCfg` class to resolve the indices. This class is used in various places in the APIs to extract certain information from a scene entity. Internally, it calls the above methods to obtain the indices. However, it also performs some additional checks to ensure that the provided names are valid. Thus, it is a safer option to use this class." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:104 +msgid "Computing robot command" +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:106 +msgid "The IK controller separates the operation of setting the desired command and computing the desired joint positions. This is done to allow for the user to run the IK controller at a different frequency than the robot's control frequency." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:110 +msgid "The :meth:`~controllers.DifferentialIKController.set_command` method takes in the desired end-effector pose as a single batched array. The pose is specified in the robot's base frame." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:119 +msgid "We can then compute the desired joint positions using the :meth:`~controllers.DifferentialIKController.compute` method. The method takes in the current end-effector pose (in base frame), Jacobian, and current joint positions. We read the Jacobian matrix from the robot's data, which uses its value computed from the physics engine." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:131 +msgid "The computed joint position targets can then be applied on the robot, as done in the previous tutorials." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:141 +msgid "The Code Execution" +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:143 +msgid "Now that we have gone through the code, let's run the script and see the result:" +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:149 +msgid "The script will start a simulation with 128 robots. The robots will be controlled using the IK controller. The current and desired end-effector poses should be displayed using frame markers. When the robot reaches the desired pose, the command should cycle through to the next pose specified in the script." +msgstr "" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:153 +msgid "To stop the simulation, you can either close the window, or press the ``STOP`` button in the UI, or press ``Ctrl+C`` in the terminal." +msgstr "" diff --git a/docs/_build/gettext/source/tutorials/index.pot b/docs/_build/gettext/source/tutorials/index.pot new file mode 100644 index 0000000000..b21883507c --- /dev/null +++ b/docs/_build/gettext/source/tutorials/index.pot @@ -0,0 +1,33 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , YEAR. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: LANGUAGE \n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=UTF-8\n" +"Content-Transfer-Encoding: 8bit\n" + +#: ../../source/tutorials/index.rst:2 +msgid "Tutorials" +msgstr "" + +#: ../../source/tutorials/index.rst:4 +msgid "Welcome to the Isaac Lab tutorials! These tutorials provide a step-by-step guide to help you understand and use various features of the framework. All the tutorials are written as Python scripts. You can find the source code for each tutorial in the ``source/standalone/tutorials`` directory of the Isaac Lab repository." +msgstr "" + +#: ../../source/tutorials/index.rst:11 +msgid "We would love to extend the tutorials to cover more topics and use cases, so please let us know if you have any suggestions." +msgstr "" + +#: ../../source/tutorials/index.rst:14 +msgid "We recommend that you go through the tutorials in the order they are listed here." +msgstr "" diff --git a/docs/conf.py b/docs/conf.py index 414b84fccf..a81492f972 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -27,7 +27,7 @@ project = "Isaac Lab" copyright = "2022-2024, The Isaac Lab Project Developers." -author = "The Isaac Lab Project Developers." +author = "The Isaac Lab Project Developers. Translate by 范子琦(Github@fan-ziqi)" # Read version from the package with open(os.path.join(os.path.dirname(__file__), "..", "VERSION")) as f: @@ -255,3 +255,6 @@ def skip_member(app, what, name, obj, skip, options): def setup(app): app.connect("autodoc-skip-member", skip_member) + +locale_dirs = ['locale/'] # path is example but recommended. +gettext_compact = False # optional. diff --git a/docs/index.rst b/docs/index.rst index 96da4bdbce..fe8ef69ec9 100644 --- a/docs/index.rst +++ b/docs/index.rst @@ -64,6 +64,7 @@ Table of Contents source/setup/sample source/setup/template source/setup/faq + source/setup/translation .. toctree:: :maxdepth: 2 diff --git a/docs/locale/zh_CN/LC_MESSAGES/index.po b/docs/locale/zh_CN/LC_MESSAGES/index.po new file mode 100644 index 0000000000..4f0d99418d --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/index.po @@ -0,0 +1,170 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../index.rst:58 +msgid "Getting Started" +msgstr "开始" + +#: ../../index.rst:68 +msgid "Features" +msgstr "特点" + +#: ../../index.rst:79 +msgid "Resources" +msgstr "资源" + +#: ../../index.rst:88 +msgid "Source API" +msgstr "来源 API" + +#: ../../index.rst:94 +msgid "Migration Guides" +msgstr "迁移指南" + +#: ../../index.rst:103 +msgid "References" +msgstr "参考资料" + +#: ../../index.rst:114 +msgid "GitHub" +msgstr "GitHub" + +#: ../../index.rst:114 +msgid "NVIDIA Isaac Sim" +msgstr "NVIDIA Isaac Sim" + +#: ../../index.rst:114 +msgid "NVIDIA PhysX" +msgstr "NVIDIA PhysX" + +#: ../../index.rst:114 +msgid "Project Links" +msgstr "项目链接" + +#: ../../index.rst:2 +msgid "Overview" +msgstr "概述" + +#: ../../index.rst:-1 +msgid "H1 Humanoid example using Isaac Lab" +msgstr "H1 使用 Isaac Lab 的人形机器人示例" + +#: ../../index.rst:8 +msgid "" +"**Isaac Lab** is a unified and modular framework for robot learning that " +"aims to simplify common workflows in robotics research (such as RL, learning" +" from demonstrations, and motion planning). It is built upon `NVIDIA Isaac " +"Sim`_ to leverage the latest simulation capabilities for photo-realistic " +"scenes, and fast and efficient simulation. The core objectives of the " +"framework are:" +msgstr "" +"**Isaac Lab** 是一个统一的、模块化的机器人学习框架，旨在简化机器人研究中的常见工作流程（如强化学习、从示范中学习和运动规划）。它构建在 " +"`NVIDIA Isaac Sim`_ 之上，以利用最新的仿真能力以用于逼真的场景和快速高效的模拟。该框架的核心目标包括：" + +#: ../../index.rst:13 +msgid "" +"**Modularity**: Easily customize and add new environments, robots, and " +"sensors." +msgstr "**模块化**：轻松定制并添加新的环境、机器人和传感器。" + +#: ../../index.rst:14 +msgid "**Agility**: Adapt to the changing needs of the community." +msgstr "**灵活性**：适应社区的不断变化需求。" + +#: ../../index.rst:15 +msgid "" +"**Openness**: Remain open-sourced to allow the community to contribute and " +"extend the framework." +msgstr "**开放性**：保持开源，允许社区贡献和扩展该框架。" + +#: ../../index.rst:16 +msgid "" +"**Battery-included**: Include a number of environments, sensors, and tasks " +"that are ready to use." +msgstr "**内含电池**：包括多种环境、传感器和任务，可供直接使用。" + +#: ../../index.rst:18 +msgid "" +"Key features available in Isaac Lab include fast and accurate physics " +"simulation provided by PhysX, tiled rendering APIs for vectorized rendering," +" domain randomization for improving robustness and adaptability, and support" +" for running in the cloud." +msgstr "" +"Isaac Lab 中提供的主要功能包括由 PhysX 提供的快速准确的物理仿真，用于矢量化渲染的分瓷渲染 " +"API，用于改善鲁棒性和适应性的域随机化，以及支持在云端运行的功能。" + +#: ../../index.rst:22 +msgid "" +"For more information about the framework, please refer to the `paper " +"`_ :cite:`mittal2023orbit`. For " +"clarifications on NVIDIA Isaac ecosystem, please check out the " +":doc:`/source/setup/faq` section." +msgstr "" +"有关该框架的更多信息，请参阅 `paper `_ " +":cite:`mittal2023orbit`。有关 NVIDIA Isaac 生态系统的澄清，请查看 :doc:`/source/setup/faq`" +" 部分。" + +#: ../../index.rst:-1 +msgid "Example tasks created using Isaac Lab" +msgstr "使用 Isaac Lab 创建的示例任务" + +#: ../../index.rst:32 +msgid "License" +msgstr "许可" + +#: ../../index.rst:34 +msgid "" +"The Isaac Lab framework is open-sourced under the BSD-3-Clause license. " +"Please refer to :ref:`license` for more details." +msgstr "Isaac Lab 框架采用 BSD-3-Clause 许可进行开源。请参阅 :ref:`license` 以获取更多详细信息。" + +#: ../../index.rst:38 +msgid "Acknowledgement" +msgstr "致谢" + +#: ../../index.rst:39 +msgid "" +"Isaac Lab development initiated from the `Orbit `_ framework. We would appreciate if you would cite it in " +"academic publications as well:" +msgstr "" +"Isaac Lab 的开发始于 `Orbit `_ " +"框架。我们将不胜感激，如果您在学术出版物中引用它：" + +#: ../../index.rst:56 +msgid "Table of Contents" +msgstr "目录" + +#: ../../index.rst:123 +msgid "Indices and tables" +msgstr "索引和表" + +#: ../../index.rst:125 +msgid ":ref:`genindex`" +msgstr ":ref:`genindex`" + +#: ../../index.rst:126 +msgid ":ref:`modindex`" +msgstr ":ref:`modindex`" + +#: ../../index.rst:127 +msgid ":ref:`search`" +msgstr ":ref:`search`" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/index.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/index.po new file mode 100644 index 0000000000..b6e244931e --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/index.po @@ -0,0 +1,165 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/index.rst:2 +msgid "API Reference" +msgstr "" + +#: ../../source/api/index.rst:4 +msgid "" +"This page gives an overview of all the modules and classes in the Isaac " +"Lab extensions." +msgstr "" + +#: ../../source/api/index.rst:7 +msgid "omni.isaac.lab extension" +msgstr "" + +#: ../../source/api/index.rst:9 +msgid "The following modules are available in the ``omni.isaac.lab`` extension:" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`app `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package containing app-specific functionalities." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`actuators `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package for different actuator models." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`assets `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package for different assets, such as rigid objects and articulations." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`controllers `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package for different controllers and motion-generators." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`devices `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package providing interfaces to different teleoperation devices." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`envs `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package for environment definitions." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`managers `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-module for environment managers." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`markers `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "" +"Sub-package for marker utilities to simplify creation of UI elements in " +"the GUI." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`scene `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package containing an interactive scene definition." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`sensors `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package containing various sensor classes implementations." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`sim `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package containing simulation-specific functionalities." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`terrains `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "Sub-package with utilities for creating terrains procedurally." +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid ":py:obj:`utils `\\" +msgstr "" + +#: ../../source/api/index.rst:29::1 +msgid "" +"Sub-package containing utilities for common operations and helper " +"functions." +msgstr "" + +#: ../../source/api/index.rst:41 +msgid "omni.isaac.lab_tasks extension" +msgstr "" + +#: ../../source/api/index.rst:43 +msgid "" +"The following modules are available in the ``omni.isaac.lab_tasks`` " +"extension:" +msgstr "" + +#: ../../source/api/index.rst:52::1 +msgid ":py:obj:`utils `\\" +msgstr "" + +#: ../../source/api/index.rst:52::1 +msgid "Sub-package with utilities, data collectors and environment wrappers." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.actuators.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.actuators.po new file mode 100644 index 0000000000..f068da691d --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.actuators.po @@ -0,0 +1,2212 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:2 +msgid "omni.isaac.lab.actuators" +msgstr "" + +#: of omni.isaac.lab.actuators:1 +msgid "Sub-package for different actuator models." +msgstr "" + +#: of omni.isaac.lab.actuators:3 +msgid "" +"Actuator models are used to model the behavior of the actuators in an " +"articulation. These are usually meant to be used in simulation to model " +"different actuator dynamics and delays." +msgstr "" + +#: of omni.isaac.lab.actuators:6 +msgid "There are two main categories of actuator models that are supported:" +msgstr "" + +#: of omni.isaac.lab.actuators:8 +msgid "" +"**Implicit**: Motor model with ideal PD from the physics engine. This is " +"similar to having a continuous time PD controller. The motor model is " +"implicit in the sense that the motor model is not explicitly defined by " +"the user." +msgstr "" + +#: of omni.isaac.lab.actuators:10 +msgid "**Explicit**: Motor models based on physical drive models." +msgstr "" + +#: of omni.isaac.lab.actuators:12 +msgid "**Physics-based**: Derives the motor models based on first-principles." +msgstr "" + +#: of omni.isaac.lab.actuators:13 +msgid "**Neural Network-based**: Learned motor models from actuator data." +msgstr "" + +#: of omni.isaac.lab.actuators:15 +msgid "" +"Every actuator model inherits from the " +":class:`omni.isaac.lab.actuators.ActuatorBase` class, which defines the " +"common interface for all actuator models. The actuator models are handled" +" and called by the :class:`omni.isaac.lab.assets.Articulation` class." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`ActuatorBase `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase:1 +msgid "" +"Base class for actuator models over a collection of actuated joints in an" +" articulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`ActuatorBaseCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_cfg.ActuatorBaseCfg:1 +msgid "Configuration for default actuators in an articulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`ImplicitActuator `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1 +msgid "Implicit actuator model that is handled by the simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid "" +":py:obj:`ImplicitActuatorCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_cfg.ImplicitActuatorCfg:1 +msgid "Configuration for an implicit actuator." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`IdealPDActuator `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1 +msgid "Ideal torque-controlled actuator model with a simple saturation model." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid "" +":py:obj:`IdealPDActuatorCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_cfg.IdealPDActuatorCfg:1 +msgid "Configuration for an ideal PD actuator." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`DCMotor `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1 +msgid "" +"Direct control (DC) motor actuator model with velocity-based saturation " +"model." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`DCMotorCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_cfg.DCMotorCfg:1 +msgid "Configuration for direct control (DC) motor actuator model." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`DelayedPDActuator `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1 +msgid "Ideal PD actuator with delayed command application." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid "" +":py:obj:`DelayedPDActuatorCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_cfg.DelayedPDActuatorCfg:1 +msgid "Configuration for a delayed PD actuator." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid "" +":py:obj:`RemotizedPDActuator " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1 +msgid "Ideal PD actuator with angle-dependent torque limits." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid "" +":py:obj:`RemotizedPDActuatorCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_cfg.RemotizedPDActuatorCfg:1 +msgid "Configuration for a remotized PD actuator." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`ActuatorNetMLP `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1 +msgid "Actuator model based on multi-layer perceptron and joint history." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`ActuatorNetMLPCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_cfg.ActuatorNetMLPCfg:1 +msgid "Configuration for MLP-based actuator model." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid ":py:obj:`ActuatorNetLSTM `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1 +msgid "Actuator model based on recurrent neural network (LSTM)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 +msgid "" +":py:obj:`ActuatorNetLSTMCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:25::1 of +#: omni.isaac.lab.actuators.actuator_cfg.ActuatorNetLSTMCfg:1 +msgid "Configuration for LSTM-based actuator model." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:28 +msgid "Actuator Base" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase:3 +msgid "" +"Actuator models augment the simulated articulation joints with an " +"external drive dynamics model. The model is used to convert the user-" +"provided joint commands (positions, velocities and efforts) into the " +"desired joint positions, velocities and efforts that are applied to the " +"simulated articulation." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase:7 +msgid "" +"The base class provides the interface for the actuator models. It is " +"responsible for parsing the actuator parameters from the configuration " +"and storing them as buffers. It also provides the interface for resetting" +" the actuator state and computing the desired joint commands for the " +"simulation." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase:11 +msgid "" +"For each actuator model, a corresponding configuration class is provided." +" The configuration class is used to parse the actuator parameters from " +"the configuration. It also specifies the joint names for which the " +"actuator model is applied. These names can be specified as regular " +"expressions, which are matched against the joint names in the " +"articulation." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase:16 +msgid "" +"To see how the class is used, check the " +":class:`omni.isaac.lab.assets.Articulation` class." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase:1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1 +msgid "**Methods:**" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\, joint\\_names\\, joint\\_ids\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetLSTM.cfg:1::1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.cfg:1::1 +#: omni.isaac.lab.actuators.DCMotor.cfg:1::1 +#: omni.isaac.lab.actuators.DelayedPDActuator.cfg:1::1 +#: omni.isaac.lab.actuators.IdealPDActuator.cfg:1::1 +#: omni.isaac.lab.actuators.ImplicitActuator.cfg:1::1 +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1 +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1::1 +msgid "Initialize the actuator." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(env\\_ids\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetLSTM.cfg:1::1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.cfg:1::1 +#: omni.isaac.lab.actuators.DCMotor.cfg:1::1 +#: omni.isaac.lab.actuators.DelayedPDActuator.cfg:1::1 +#: omni.isaac.lab.actuators.IdealPDActuator.cfg:1::1 +#: omni.isaac.lab.actuators.ImplicitActuator.cfg:1::1 +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.reset:1 +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.reset:1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.reset:1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.reset:1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.reset:1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator.reset:1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1::1 +msgid "Reset the internals within the group." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase:1::1 +msgid "" +":py:obj:`compute `\\ " +"\\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetLSTM.cfg:1::1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.cfg:1::1 +#: omni.isaac.lab.actuators.DCMotor.cfg:1::1 +#: omni.isaac.lab.actuators.DelayedPDActuator.cfg:1::1 +#: omni.isaac.lab.actuators.IdealPDActuator.cfg:1::1 +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute:1 +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute:1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute:1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.compute:1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute:1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute:1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute:1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1::1 +msgid "Process the actuator group actions and compute the articulation actions." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase:1 +#: omni.isaac.lab.actuators.actuator_cfg.ActuatorBaseCfg:1 +#: omni.isaac.lab.actuators.actuator_cfg.ActuatorNetLSTMCfg:1 +#: omni.isaac.lab.actuators.actuator_cfg.ActuatorNetMLPCfg:1 +#: omni.isaac.lab.actuators.actuator_cfg.DCMotorCfg:1 +#: omni.isaac.lab.actuators.actuator_cfg.DelayedPDActuatorCfg:1 +#: omni.isaac.lab.actuators.actuator_cfg.RemotizedPDActuatorCfg:1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1 +msgid "**Attributes:**" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The stiffness (P gain) of the PD controller." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The damping (D gain) of the PD controller." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The armature of the actuator joints." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The joint friction of the actuator joints." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid "" +":py:obj:`effort_limit " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The effort limit for the actuator group." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid "" +":py:obj:`velocity_limit " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The velocity limit for the actuator group." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid "" +":py:obj:`computed_effort " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The computed effort for the actuator group." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid "" +":py:obj:`applied_effort " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The applied effort for the actuator group." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid ":py:obj:`num_joints `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorBase.num_joints:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTM.num_joints:1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.num_joints:1 +#: omni.isaac.lab.actuators.DCMotor.num_joints:1 +#: omni.isaac.lab.actuators.DelayedPDActuator.num_joints:1 +#: omni.isaac.lab.actuators.IdealPDActuator.num_joints:1 +#: omni.isaac.lab.actuators.ImplicitActuator.num_joints:1 +#: omni.isaac.lab.actuators.RemotizedPDActuator.num_joints:1 +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "Number of actuators in the group." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid "" +":py:obj:`joint_names " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.joint_names:1 +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1 +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +#: omni.isaac.lab.actuators.ActuatorNetLSTM.joint_names:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.joint_names_expr:1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.joint_names:1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.joint_names_expr:1 +#: omni.isaac.lab.actuators.DCMotor.joint_names:1 +#: omni.isaac.lab.actuators.DCMotorCfg.joint_names_expr:1 +#: omni.isaac.lab.actuators.DelayedPDActuator.joint_names:1 +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr:1 +#: omni.isaac.lab.actuators.IdealPDActuator.joint_names:1 +#: omni.isaac.lab.actuators.IdealPDActuatorCfg.joint_names_expr:1 +#: omni.isaac.lab.actuators.ImplicitActuator.joint_names:1 +#: omni.isaac.lab.actuators.ImplicitActuatorCfg.joint_names_expr:1 +#: omni.isaac.lab.actuators.RemotizedPDActuator.joint_names:1 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr:1 +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "Articulation's joint names that are part of the group." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +msgid "" +":py:obj:`joint_indices " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorBase.joint_indices:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTM.joint_indices:1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.joint_indices:1 +#: omni.isaac.lab.actuators.DCMotor.joint_indices:1 +#: omni.isaac.lab.actuators.DelayedPDActuator.joint_indices:1 +#: omni.isaac.lab.actuators.IdealPDActuator.joint_indices:1 +#: omni.isaac.lab.actuators.ImplicitActuator.joint_indices:1 +#: omni.isaac.lab.actuators.RemotizedPDActuator.joint_indices:1 +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "Articulation's joint indices that are part of the group." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:5 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:5 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:5 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:5 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:5 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:5 +msgid "" +"The actuator parameters are parsed from the configuration and stored as " +"buffers. If the parameters are not specified in the configuration, then " +"the default values provided in the arguments are used." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__ +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.reset +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__ +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.reset +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__ +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.reset +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__ +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.compute +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__ +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.reset +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.reset +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator.reset +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__ +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute +msgid "Parameters" +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetLSTM.cfg:1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.cfg:1 +#: omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:8 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:8 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:8 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:8 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:8 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:8 +msgid "The configuration of the actuator model." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:9 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:9 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:9 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:9 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:9 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:9 +msgid "The joint names in the articulation." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:10 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:10 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:10 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:10 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:10 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:10 +msgid "" +"The joint indices in the articulation. If :obj:`slice(None)`, then all " +"the joints in the articulation are part of the group." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:12 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:12 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:12 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:12 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:12 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:12 +msgid "Number of articulations in the view." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:13 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:13 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:13 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:13 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:13 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:13 +msgid "Device used for processing." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:14 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:14 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:14 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:14 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:14 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:14 +msgid "" +"The default joint stiffness (P gain). Defaults to 0.0. If a tensor, then " +"the shape is (num_envs, num_joints)." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:16 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:16 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:16 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:16 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:16 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:16 +msgid "" +"The default joint damping (D gain). Defaults to 0.0. If a tensor, then " +"the shape is (num_envs, num_joints)." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:18 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:18 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:18 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:18 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:18 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:18 +msgid "" +"The default joint armature. Defaults to 0.0. If a tensor, then the shape " +"is (num_envs, num_joints)." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:20 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:20 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:20 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:20 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:20 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:20 +msgid "" +"The default joint friction. Defaults to 0.0. If a tensor, then the shape " +"is (num_envs, num_joints)." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:22 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:22 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:22 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:22 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:22 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:22 +msgid "" +"The default effort limit. Defaults to infinity. If a tensor, then the " +"shape is (num_envs, num_joints)." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.__init__:24 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.__init__:24 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.__init__:24 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.__init__:24 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.__init__:24 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:24 +msgid "" +"The default velocity limit. Defaults to infinity. If a tensor, then the " +"shape is (num_envs, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.stiffness:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTM.stiffness:1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.stiffness:1 +#: omni.isaac.lab.actuators.DCMotor.stiffness:1 +#: omni.isaac.lab.actuators.DelayedPDActuator.stiffness:1 +#: omni.isaac.lab.actuators.IdealPDActuator.stiffness:1 +#: omni.isaac.lab.actuators.ImplicitActuator.stiffness:1 +#: omni.isaac.lab.actuators.RemotizedPDActuator.stiffness:1 +msgid "" +"The stiffness (P gain) of the PD controller. Shape is (num_envs, " +"num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.damping:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTM.damping:1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.damping:1 +#: omni.isaac.lab.actuators.DCMotor.damping:1 +#: omni.isaac.lab.actuators.DelayedPDActuator.damping:1 +#: omni.isaac.lab.actuators.IdealPDActuator.damping:1 +#: omni.isaac.lab.actuators.ImplicitActuator.damping:1 +#: omni.isaac.lab.actuators.RemotizedPDActuator.damping:1 +msgid "" +"The damping (D gain) of the PD controller. Shape is (num_envs, " +"num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.armature:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTM.armature:1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.armature:1 +#: omni.isaac.lab.actuators.DCMotor.armature:1 +#: omni.isaac.lab.actuators.DelayedPDActuator.armature:1 +#: omni.isaac.lab.actuators.IdealPDActuator.armature:1 +#: omni.isaac.lab.actuators.ImplicitActuator.armature:1 +#: omni.isaac.lab.actuators.RemotizedPDActuator.armature:1 +msgid "The armature of the actuator joints. Shape is (num_envs, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.friction:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTM.friction:1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.friction:1 +#: omni.isaac.lab.actuators.DCMotor.friction:1 +#: omni.isaac.lab.actuators.DelayedPDActuator.friction:1 +#: omni.isaac.lab.actuators.IdealPDActuator.friction:1 +#: omni.isaac.lab.actuators.ImplicitActuator.friction:1 +#: omni.isaac.lab.actuators.RemotizedPDActuator.friction:1 +msgid "" +"The joint friction of the actuator joints. Shape is (num_envs, " +"num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.effort_limit:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTM.effort_limit:1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.effort_limit:1 +#: omni.isaac.lab.actuators.DCMotor.effort_limit:1 +#: omni.isaac.lab.actuators.DelayedPDActuator.effort_limit:1 +#: omni.isaac.lab.actuators.IdealPDActuator.effort_limit:1 +#: omni.isaac.lab.actuators.ImplicitActuator.effort_limit:1 +#: omni.isaac.lab.actuators.RemotizedPDActuator.effort_limit:1 +msgid "The effort limit for the actuator group. Shape is (num_envs, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.velocity_limit:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTM.velocity_limit:1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.velocity_limit:1 +#: omni.isaac.lab.actuators.DCMotor.velocity_limit:1 +#: omni.isaac.lab.actuators.DelayedPDActuator.velocity_limit:1 +#: omni.isaac.lab.actuators.IdealPDActuator.velocity_limit:1 +#: omni.isaac.lab.actuators.ImplicitActuator.velocity_limit:1 +#: omni.isaac.lab.actuators.RemotizedPDActuator.velocity_limit:1 +msgid "" +"The velocity limit for the actuator group. Shape is (num_envs, " +"num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.computed_effort:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTM.computed_effort:1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.computed_effort:1 +#: omni.isaac.lab.actuators.DCMotor.computed_effort:1 +#: omni.isaac.lab.actuators.DelayedPDActuator.computed_effort:1 +#: omni.isaac.lab.actuators.IdealPDActuator.computed_effort:1 +#: omni.isaac.lab.actuators.ImplicitActuator.computed_effort:1 +#: omni.isaac.lab.actuators.RemotizedPDActuator.computed_effort:1 +msgid "" +"The computed effort for the actuator group. Shape is (num_envs, " +"num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBase.applied_effort:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTM.applied_effort:1 +#: omni.isaac.lab.actuators.ActuatorNetMLP.applied_effort:1 +#: omni.isaac.lab.actuators.DCMotor.applied_effort:1 +#: omni.isaac.lab.actuators.DelayedPDActuator.applied_effort:1 +#: omni.isaac.lab.actuators.IdealPDActuator.applied_effort:1 +#: omni.isaac.lab.actuators.ImplicitActuator.applied_effort:1 +#: omni.isaac.lab.actuators.RemotizedPDActuator.applied_effort:1 +msgid "" +"The applied effort for the actuator group. Shape is (num_envs, " +"num_joints)." +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorBase.joint_indices:5 +#: omni.isaac.lab.actuators.ActuatorNetLSTM.joint_indices:5 +#: omni.isaac.lab.actuators.ActuatorNetMLP.joint_indices:5 +#: omni.isaac.lab.actuators.DCMotor.joint_indices:5 +#: omni.isaac.lab.actuators.DelayedPDActuator.joint_indices:5 +#: omni.isaac.lab.actuators.IdealPDActuator.joint_indices:5 +#: omni.isaac.lab.actuators.ImplicitActuator.joint_indices:5 +#: omni.isaac.lab.actuators.RemotizedPDActuator.joint_indices:5 +msgid "" +"If :obj:`slice(None)` is returned, then the group contains all the joints" +" in the articulation. We do this to avoid unnecessary indexing of the " +"joints for performance reasons." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.reset:3 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.reset:3 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.reset:3 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.reset:3 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.reset:3 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator.reset:3 +msgid "List of environment IDs to reset." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute:3 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute:3 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute:3 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.compute:3 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute:3 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute:3 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute:3 +msgid "It computes the articulation actions based on the actuator model type" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute:5 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute:5 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute:5 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.compute:5 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute:5 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute:5 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute:5 +msgid "" +"The joint action instance comprising of the desired joint positions, " +"joint velocities and (feed-forward) joint efforts." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute:7 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute:7 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute:7 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.compute:7 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute:7 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute:7 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute:7 +msgid "" +"The current joint positions of the joints in the group. Shape is " +"(num_envs, num_joints)." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute:8 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute:8 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute:8 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.compute:8 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute:8 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute:8 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute:8 +msgid "" +"The current joint velocities of the joints in the group. Shape is " +"(num_envs, num_joints)." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.compute +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute +msgid "Returns" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_base.ActuatorBase.compute:10 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM.compute:10 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP.compute:10 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor.compute:10 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator.compute:10 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator.compute:10 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.compute:10 +msgid "The computed desired joint positions, joint velocities and joint efforts." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid "" +":py:obj:`joint_names_expr " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid "" +":py:obj:`effort_limit " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid "Force/Torque limit of the joints in the group." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid "" +":py:obj:`velocity_limit " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid "Velocity limit of the joints in the group." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +#: omni.isaac.lab.actuators.ActuatorBaseCfg.stiffness:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness:1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1 +#: omni.isaac.lab.actuators.DCMotorCfg.stiffness:1 +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.stiffness:1 +#: omni.isaac.lab.actuators.IdealPDActuatorCfg.stiffness:1 +#: omni.isaac.lab.actuators.ImplicitActuatorCfg.stiffness:1 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.stiffness:1 +msgid "Stiffness gains (also known as p-gain) of the joints in the group." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.damping:1 +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.damping:1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.damping:1 +#: omni.isaac.lab.actuators.DCMotorCfg.damping:1 +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.damping:1 +#: omni.isaac.lab.actuators.IdealPDActuatorCfg.damping:1 +#: omni.isaac.lab.actuators.ImplicitActuatorCfg.damping:1 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.damping:1 +msgid "Damping gains (also known as d-gain) of the joints in the group." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid "Armature of the joints in the group." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:1::1 +msgid "Joint friction of the joints in the group." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.actuators.ActuatorBaseCfg.joint_names_expr:3 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.joint_names_expr:3 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.joint_names_expr:3 +#: omni.isaac.lab.actuators.DCMotorCfg.joint_names_expr:3 +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr:3 +#: omni.isaac.lab.actuators.IdealPDActuatorCfg.joint_names_expr:3 +#: omni.isaac.lab.actuators.ImplicitActuatorCfg.joint_names_expr:3 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr:3 +msgid "" +"This can be a list of joint names or a list of regex expressions (e.g. " +"\".*\")." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.effort_limit:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.effort_limit:1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.effort_limit:1 +#: omni.isaac.lab.actuators.DCMotorCfg.effort_limit:1 +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.effort_limit:1 +#: omni.isaac.lab.actuators.IdealPDActuatorCfg.effort_limit:1 +#: omni.isaac.lab.actuators.ImplicitActuatorCfg.effort_limit:1 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.effort_limit:1 +msgid "Force/Torque limit of the joints in the group. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.effort_limit:3 +#: omni.isaac.lab.actuators.ActuatorBaseCfg.velocity_limit:3 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.effort_limit:3 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.velocity_limit:3 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.effort_limit:3 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.velocity_limit:3 +#: omni.isaac.lab.actuators.DCMotorCfg.effort_limit:3 +#: omni.isaac.lab.actuators.DCMotorCfg.velocity_limit:3 +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.effort_limit:3 +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.velocity_limit:3 +#: omni.isaac.lab.actuators.IdealPDActuatorCfg.effort_limit:3 +#: omni.isaac.lab.actuators.IdealPDActuatorCfg.velocity_limit:3 +#: omni.isaac.lab.actuators.ImplicitActuatorCfg.effort_limit:3 +#: omni.isaac.lab.actuators.ImplicitActuatorCfg.velocity_limit:3 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.effort_limit:3 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.velocity_limit:3 +msgid "If None, the limit is set to the value specified in the USD joint prim." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.velocity_limit:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.velocity_limit:1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.velocity_limit:1 +#: omni.isaac.lab.actuators.DCMotorCfg.velocity_limit:1 +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.velocity_limit:1 +#: omni.isaac.lab.actuators.IdealPDActuatorCfg.velocity_limit:1 +#: omni.isaac.lab.actuators.ImplicitActuatorCfg.velocity_limit:1 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.velocity_limit:1 +msgid "Velocity limit of the joints in the group. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.stiffness:3 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness:3 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:3 +#: omni.isaac.lab.actuators.DCMotorCfg.stiffness:3 +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.stiffness:3 +#: omni.isaac.lab.actuators.IdealPDActuatorCfg.stiffness:3 +#: omni.isaac.lab.actuators.ImplicitActuatorCfg.stiffness:3 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.stiffness:3 +msgid "If None, the stiffness is set to the value from the USD joint prim." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.damping:3 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.damping:3 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.damping:3 +#: omni.isaac.lab.actuators.DCMotorCfg.damping:3 +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.damping:3 +#: omni.isaac.lab.actuators.IdealPDActuatorCfg.damping:3 +#: omni.isaac.lab.actuators.ImplicitActuatorCfg.damping:3 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.damping:3 +msgid "If None, the damping is set to the value from the USD joint prim." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.armature:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.armature:1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.armature:1 +#: omni.isaac.lab.actuators.DCMotorCfg.armature:1 +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.armature:1 +#: omni.isaac.lab.actuators.IdealPDActuatorCfg.armature:1 +#: omni.isaac.lab.actuators.ImplicitActuatorCfg.armature:1 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.armature:1 +msgid "Armature of the joints in the group. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.armature:3 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.armature:3 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.armature:3 +#: omni.isaac.lab.actuators.DCMotorCfg.armature:3 +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.armature:3 +#: omni.isaac.lab.actuators.IdealPDActuatorCfg.armature:3 +#: omni.isaac.lab.actuators.ImplicitActuatorCfg.armature:3 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.armature:3 +msgid "If None, the armature is set to the value from the USD joint prim." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.friction:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.friction:1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.friction:1 +#: omni.isaac.lab.actuators.DCMotorCfg.friction:1 +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.friction:1 +#: omni.isaac.lab.actuators.IdealPDActuatorCfg.friction:1 +#: omni.isaac.lab.actuators.ImplicitActuatorCfg.friction:1 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.friction:1 +msgid "Joint friction of the joints in the group. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorBaseCfg.friction:3 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.friction:3 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.friction:3 +#: omni.isaac.lab.actuators.DCMotorCfg.friction:3 +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.friction:3 +#: omni.isaac.lab.actuators.IdealPDActuatorCfg.friction:3 +#: omni.isaac.lab.actuators.ImplicitActuatorCfg.friction:3 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.friction:3 +msgid "If None, the joint friction is set to the value from the USD joint prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:40 +msgid "Implicit Actuator" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1 +msgid "Bases: :py:class:`~omni.isaac.lab.actuators.actuator_base.ActuatorBase`" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:3 +msgid "" +"This performs a similar function as the :class:`IdealPDActuator` class. " +"However, the PD control is handled implicitly by the simulation which " +"performs continuous-time integration of the PD control law. This is " +"generally more accurate than the explicit PD control law used in " +":class:`IdealPDActuator` when the simulation time-step is large." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:10 +msgid "" +"The articulation class sets the stiffness and damping parameters from the" +" configuration into the simulation. Thus, the parameters are not used in " +"this class." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:15 +msgid "" +"The class is only provided for consistency with the other actuator " +"models. It does not implement any functionality and should not be used. " +"All values should be set to the simulation directly." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.DCMotor.cfg:1 +#: omni.isaac.lab.actuators.DelayedPDActuator.cfg:1 +#: omni.isaac.lab.actuators.IdealPDActuator.cfg:1 +#: omni.isaac.lab.actuators.ImplicitActuator.cfg:1 +#: omni.isaac.lab.actuators.RemotizedPDActuator.cfg:1 +#: omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "The configuration for the actuator model." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid "" +":py:obj:`joint_indices " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid "" +":py:obj:`joint_names " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid "" +":py:obj:`num_joints " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid "" +":py:obj:`computed_effort " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid "" +":py:obj:`applied_effort " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid "" +":py:obj:`effort_limit " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid "" +":py:obj:`velocity_limit " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid "" +":py:obj:`stiffness " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.ImplicitActuator:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.ImplicitActuator.cfg:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\*args\\, \\*\\*kwargs\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.ImplicitActuator.cfg:1::1 +msgid "" +":py:obj:`compute `\\ " +"\\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.ImplicitActuator.cfg:1::1 +#: omni.isaac.lab.actuators.actuator_pd.ImplicitActuator.compute:1 +msgid "" +"Compute the aproximmate torques for the actuated joint (physX does not " +"compute this explicitly)." +msgstr "" + +#: of omni.isaac.lab.actuators.ImplicitActuator.cfg:1::1 +msgid "" +":py:obj:`__init__ `\\" +" \\(cfg\\, joint\\_names\\, joint\\_ids\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_cfg.IdealPDActuatorCfg:1 +#: omni.isaac.lab.actuators.actuator_cfg.ImplicitActuatorCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.actuators.actuator_cfg.ActuatorBaseCfg`" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_cfg.ImplicitActuatorCfg:3 +msgid "The PD control is handled implicitly by the simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:54 +msgid "Ideal PD Actuator" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:3 +msgid "" +"It employs the following model for computing torques for the actuated " +"joint :math:`j`:" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:5 +msgid "" +"\\tau_{j, computed} = k_p * (q - q_{des}) + k_d * (\\dot{q} - " +"\\dot{q}_{des}) + \\tau_{ff}" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:9 +msgid "" +"where, :math:`k_p` and :math:`k_d` are joint stiffness and damping gains," +" :math:`q` and :math:`\\dot{q}` are the current joint positions and " +"velocities, :math:`q_{des}`, :math:`\\dot{q}_{des}` and " +":math:`\\tau_{ff}` are the desired joint positions, velocities and " +"torques commands." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:13 +msgid "" +"The clipping model is based on the maximum torque applied by the motor. " +"It is implemented as:" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:15 +msgid "" +"\\tau_{j, max} & = \\gamma \\times \\tau_{motor, max} \\\\\n" +"\\tau_{j, applied} & = clip(\\tau_{computed}, -\\tau_{j, max}, \\tau_{j, " +"max})" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:20 +msgid "" +"where the clipping function is defined as :math:`clip(x, x_{min}, " +"x_{max}) = min(max(x, x_{min}), x_{max})`. The parameters :math:`\\gamma`" +" is the gear ratio of the gear box connecting the motor and the actuated " +"joint ends, and :math:`\\tau_{motor, max}` is the maximum motor effort " +"possible. These parameters are read from the configuration instance " +"passed to the class." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid "" +":py:obj:`joint_indices " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid "" +":py:obj:`joint_names " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid "" +":py:obj:`num_joints " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid "" +":py:obj:`computed_effort " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid "" +":py:obj:`applied_effort " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid "" +":py:obj:`effort_limit " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid "" +":py:obj:`velocity_limit " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.IdealPDActuator:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.IdealPDActuator.cfg:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(env\\_ids\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.IdealPDActuator.cfg:1::1 +msgid "" +":py:obj:`compute `\\ " +"\\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.IdealPDActuator.cfg:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\, joint\\_names\\, joint\\_ids\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:68 +msgid "DC Motor Actuator" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:1 +#: omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1 +msgid "Bases: :py:class:`~omni.isaac.lab.actuators.actuator_pd.IdealPDActuator`" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:3 +msgid "" +"It uses the same model as the :class:`IdealActuator` for computing the " +"torques from input commands. However, it implements a saturation model " +"defined by DC motor characteristics." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:6 +msgid "" +"A DC motor is a type of electric motor that is powered by direct current " +"electricity. In most cases, the motor is connected to a constant source " +"of voltage supply, and the current is controlled by a rheostat. Depending" +" on various design factors such as windings and materials, the motor can " +"draw a limited maximum power from the electronic source, which limits the" +" produced motor torque and speed." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:11 +msgid "A DC motor characteristics are defined by the following parameters:" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:13 +msgid "" +"Continuous-rated speed (:math:`\\dot{q}_{motor, max}`) : The maximum-" +"rated speed of the motor." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:14 +msgid "" +"Continuous-stall torque (:math:`\\tau_{motor, max}`): The maximum-rated " +"torque produced at 0 speed." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:15 +msgid "" +"Saturation torque (:math:`\\tau_{motor, sat}`): The maximum torque that " +"can be outputted for a short period." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:17 +msgid "" +"Based on these parameters, the instantaneous minimum and maximum torques " +"are defined as follows:" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:19 +msgid "" +"\\tau_{j, max}(\\dot{q}) & = clip \\left (\\tau_{j, sat} \\times \\left(1" +" -\n" +" \\frac{\\dot{q}}{\\dot{q}_{j, max}}\\right), 0.0, \\tau_{j, max} " +"\\right) \\\\\n" +"\\tau_{j, min}(\\dot{q}) & = clip \\left (\\tau_{j, sat} \\times \\left( " +"-1 -\n" +" \\frac{\\dot{q}}{\\dot{q}_{j, max}}\\right), - \\tau_{j, max}, 0.0 " +"\\right)" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:26 +msgid "" +"where :math:`\\gamma` is the gear ratio of the gear box connecting the " +"motor and the actuated joint ends, :math:`\\dot{q}_{j, max} = " +"\\gamma^{-1} \\times \\dot{q}_{motor, max}`, :math:`\\tau_{j, max} = " +"\\gamma \\times \\tau_{motor, max}` and :math:`\\tau_{j, peak} = \\gamma " +"\\times \\tau_{motor, peak}` are the maximum joint velocity, maximum " +"joint torque and peak torque, respectively. These parameters are read " +"from the configuration instance passed to the class." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:32 +msgid "" +"Using these values, the computed torques are clipped to the minimum and " +"maximum values based on the instantaneous joint velocity:" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:35 +msgid "" +"\\tau_{j, applied} = clip(\\tau_{computed}, \\tau_{j, min}(\\dot{q}), " +"\\tau_{j, max}(\\dot{q}))" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`joint_indices `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`num_joints `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid "" +":py:obj:`computed_effort " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid "" +":py:obj:`applied_effort " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`effort_limit `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid "" +":py:obj:`velocity_limit " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DCMotor:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.DCMotor.cfg:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\, \\*args\\, \\*\\*kwargs\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.DCMotor.cfg:1::1 +msgid "" +":py:obj:`compute `\\ " +"\\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.DCMotor.cfg:1::1 +msgid ":py:obj:`reset `\\ \\(env\\_ids\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_cfg.DCMotorCfg:1 +#: omni.isaac.lab.actuators.actuator_cfg.DelayedPDActuatorCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.actuators.actuator_cfg.IdealPDActuatorCfg`" +msgstr "" + +#: of omni.isaac.lab.actuators.DCMotorCfg.saturation_effort:1::1 +msgid "" +":py:obj:`saturation_effort " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.saturation_effort:1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.saturation_effort:1 +#: omni.isaac.lab.actuators.DCMotorCfg.saturation_effort:1 +#: omni.isaac.lab.actuators.DCMotorCfg.saturation_effort:1::1 +msgid "Peak motor force/torque of the electric DC motor (in N-m)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:82 +msgid "Delayed PD Actuator" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:3 +msgid "" +"This class extends the :class:`IdealPDActuator` class by adding a delay " +"to the actuator commands. The delay is implemented using a circular " +"buffer that stores the actuator commands for a certain number of physics " +"steps. The most recent actuation value is pushed to the buffer at every " +"physics step, but the final actuation value applied to the simulation is " +"lagged by a certain number of physics steps." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:8 +msgid "" +"The amount of time lag is configurable and can be set to a random value " +"between the minimum and maximum time lag bounds at every reset. The " +"minimum and maximum time lag values are set in the configuration instance" +" passed to the class." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid "" +":py:obj:`joint_indices " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid "" +":py:obj:`joint_names " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid "" +":py:obj:`num_joints " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid "" +":py:obj:`computed_effort " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid "" +":py:obj:`applied_effort " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid "" +":py:obj:`effort_limit " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid "" +":py:obj:`velocity_limit " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid "" +":py:obj:`stiffness " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.DelayedPDActuator.cfg:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ \\(cfg\\, " +"\\*args\\, \\*\\*kwargs\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.DelayedPDActuator.cfg:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(env\\_ids\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.DelayedPDActuator.cfg:1::1 +msgid "" +":py:obj:`compute `\\ " +"\\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr:1::1 +msgid "" +":py:obj:`min_delay " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr:1::1 +msgid "" +"Minimum number of physics time-steps with which the actuator command may " +"be delayed." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr:1::1 +msgid "" +":py:obj:`max_delay " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.DelayedPDActuatorCfg.joint_names_expr:1::1 +msgid "" +"Maximum number of physics time-steps with which the actuator command may " +"be delayed." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.min_delay:1 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.min_delay:1 +msgid "" +"Minimum number of physics time-steps with which the actuator command may " +"be delayed. Defaults to 0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.DelayedPDActuatorCfg.max_delay:1 +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.max_delay:1 +msgid "" +"Maximum number of physics time-steps with which the actuator command may " +"be delayed. Defaults to 0." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:96 +msgid "Remotized PD Actuator" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1 +msgid "Bases: :py:class:`~omni.isaac.lab.actuators.actuator_pd.DelayedPDActuator`" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:3 +msgid "" +"This class extends the :class:`DelayedPDActuator` class by adding angle-" +"dependent torque limits to the actuator. The torque limits are applied by" +" querying a lookup table describing the relationship between the joint " +"angle and the maximum output torque. The lookup table is provided in the " +"configuration instance passed to the class." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:7 +msgid "" +"The torque limits are interpolated based on the current joint positions " +"and applied to the actuator commands." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ \\(cfg\\, " +"joint\\_names\\, joint\\_ids\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(env\\_ids\\)" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator:1::1 +msgid "" +":py:obj:`compute " +"`\\ " +"\\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "" +":py:obj:`joint_indices " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "" +":py:obj:`joint_names " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "" +":py:obj:`num_joints " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "" +":py:obj:`computed_effort " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "" +":py:obj:`applied_effort " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "" +":py:obj:`effort_limit " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "" +":py:obj:`velocity_limit " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "" +":py:obj:`stiffness " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "" +":py:obj:`armature " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.actuator_pd.RemotizedPDActuator.__init__:1::1 +msgid "" +":py:obj:`friction " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_cfg.RemotizedPDActuatorCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.actuators.actuator_cfg.DelayedPDActuatorCfg`" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_cfg.RemotizedPDActuatorCfg:5 +msgid "" +"The torque output limits for this actuator is derived from a linear " +"interpolation of a lookup table in :attr:`joint_parameter_lookup`. This " +"table describes the relationship between joint angles and the output " +"torques." +msgstr "" + +#: of +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr:1::1 +msgid "" +":py:obj:`joint_parameter_lookup " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_names_expr:1::1 +msgid "Joint parameter lookup table." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_parameter_lookup:1 +msgid "Joint parameter lookup table. Shape is (num_lookup_points, 3)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.actuators.RemotizedPDActuatorCfg.joint_parameter_lookup:3 +msgid "" +"This tensor describes the relationship between the joint angle (rad), the" +" transmission ratio (in/out), and the output torque (N*m). The table is " +"used to interpolate the output torque based on the joint angle." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:110 +msgid "MLP Network Actuator" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1 +msgid "Bases: :py:class:`~omni.isaac.lab.actuators.actuator_pd.DCMotor`" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:3 +msgid "" +"Many times the analytical model is not sufficient to capture the actuator" +" dynamics, the delay in the actuator response, or the non-linearities in " +"the actuator. In these cases, a neural network model can be used to " +"approximate the actuator dynamics. This model is trained using data " +"collected from the physical actuator and maps the joint state and the " +"desired joint command to the produced torque by the actuator." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:9 +msgid "" +"This class implements the learned model as a neural network based on the " +"work from :cite:t:`hwangbo2019learning`. The class stores the history of " +"the joint positions errors and velocities which are used to provide input" +" to the neural network. The model is loaded as a TorchScript." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:8 +#: omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:14 +msgid "Only the desired joint positions are used as inputs to the network." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid "" +":py:obj:`joint_indices " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid "" +":py:obj:`joint_names " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid "" +":py:obj:`num_joints " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid "" +":py:obj:`computed_effort " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid "" +":py:obj:`applied_effort " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid "" +":py:obj:`effort_limit " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid "" +":py:obj:`velocity_limit " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetMLP:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetMLP.cfg:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\, \\*args\\, \\*\\*kwargs\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetMLP.cfg:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(env\\_ids\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetMLP.cfg:1::1 +msgid "" +":py:obj:`compute `\\ " +"\\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_cfg.ActuatorNetLSTMCfg:1 +#: omni.isaac.lab.actuators.actuator_cfg.ActuatorNetMLPCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.actuators.actuator_cfg.DCMotorCfg`" +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid "" +":py:obj:`network_file " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.network_file:1 +#: omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness:1::1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.network_file:1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid "Path to the file containing network weights." +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid "" +":py:obj:`pos_scale " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.pos_scale:1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid "Scaling of the joint position errors input to the network." +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid "" +":py:obj:`vel_scale " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.vel_scale:1 +msgid "Scaling of the joint velocities input to the network." +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid "" +":py:obj:`torque_scale " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.torque_scale:1 +msgid "Scaling of the joint efforts output from the network." +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid "" +":py:obj:`input_order " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order:1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid "Order of the inputs to the network." +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid "" +":py:obj:`input_idx " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_idx:1 +#: omni.isaac.lab.actuators.ActuatorNetMLPCfg.stiffness:1::1 +msgid "Indices of the actuator history buffer passed as inputs to the network." +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order:3 +msgid "The order can be one of the following:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order:5 +msgid "``\"pos_vel\"``: joint position errors followed by joint velocities" +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order:6 +msgid "``\"vel_pos\"``: joint velocities followed by joint position errors" +msgstr "" + +#: ../../docstring of omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_idx:3 +msgid "" +"The index *0* corresponds to current time-step, while *n* corresponds to " +"n-th time-step in the past. The allocated history length is " +"`max(input_idx) + 1`." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.actuators.rst:124 +msgid "LSTM Network Actuator" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:3 +msgid "" +"Unlike the MLP implementation :cite:t:`hwangbo2019learning`, this class " +"implements the learned model as a temporal neural network (LSTM) based on" +" the work from :cite:t:`rudin2022learning`. This removes the need of " +"storing a history as the hidden states of the recurrent network captures " +"the history." +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid "" +":py:obj:`joint_indices " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid "" +":py:obj:`joint_names " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid "" +":py:obj:`num_joints " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid "" +":py:obj:`computed_effort " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid "" +":py:obj:`applied_effort " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid "" +":py:obj:`effort_limit " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid "" +":py:obj:`velocity_limit " +"`\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`stiffness `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`damping `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`armature `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.actuator_net.ActuatorNetLSTM:1::1 +msgid ":py:obj:`friction `\\" +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetLSTM.cfg:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\, \\*args\\, \\*\\*kwargs\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetLSTM.cfg:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(env\\_ids\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetLSTM.cfg:1::1 +msgid "" +":py:obj:`compute `\\ " +"\\(control\\_action\\, joint\\_pos\\, joint\\_vel\\)" +msgstr "" + +#: of omni.isaac.lab.actuators.ActuatorNetLSTMCfg.stiffness:1::1 +msgid "" +":py:obj:`network_file " +"`\\" +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.app.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.app.po new file mode 100644 index 0000000000..76f4036dbf --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.app.po @@ -0,0 +1,362 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:2 +msgid "omni.isaac.lab.app" +msgstr "" + +#: of omni.isaac.lab.app:1 +msgid "Sub-package containing app-specific functionalities." +msgstr "" + +#: of omni.isaac.lab.app:3 +msgid "These include:" +msgstr "" + +#: of omni.isaac.lab.app:5 +msgid "Ability to launch the simulation app with different configurations" +msgstr "" + +#: of omni.isaac.lab.app:6 +msgid "Run tests with the simulation app" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:10::1 +msgid ":py:obj:`AppLauncher `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:10::1 of +#: omni.isaac.lab.app.app_launcher.AppLauncher:1 +msgid "" +"A utility class to launch Isaac Sim application based on command-line " +"arguments and environment variables." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:14 +msgid "Environment variables" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:16 +msgid "" +"The following details the behavior of the class based on the environment " +"variables:" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:18 +msgid "" +"**Headless mode**: If the environment variable ``HEADLESS=1``, then " +"SimulationApp will be started in headless mode. If ``LIVESTREAM={1,2}``, " +"then it will supersede the ``HEADLESS`` envvar and force headlessness." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:21 +msgid "``HEADLESS=1`` causes the app to run in headless mode." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:23 +msgid "" +"**Livestreaming**: If the environment variable ``LIVESTREAM={1,2}`` , " +"then `livestream`_ is enabled. Any of the livestream modes being true " +"forces the app to run in headless mode." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:26 +msgid "" +"``LIVESTREAM=1`` enables streaming via the Isaac `Native Livestream`_ " +"extension. This allows users to connect through the Omniverse Streaming " +"Client." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:28 +msgid "" +"``LIVESTREAM=2`` enables streaming via the `WebRTC Livestream`_ " +"extension. This allows users to connect in a browser using the WebRTC " +"protocol." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:33 +msgid "" +"Each Isaac Sim instance can only connect to one streaming client. " +"Connecting to an Isaac Sim instance that is currently serving a streaming" +" client results in an error for the second user." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:37 +msgid "" +"**Enable cameras**: If the environment variable ``ENABLE_CAMERAS`` is set" +" to 1, then the cameras are enabled. This is useful for running the " +"simulator without a GUI but still rendering the viewport and camera " +"images." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:41 +msgid "" +"``ENABLE_CAMERAS=1``: Enables the offscreen-render pipeline which allows " +"users to render the scene without launching a GUI." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:46 +msgid "" +"The off-screen rendering pipeline only works when used in conjunction " +"with the :class:`omni.isaac.lab.sim.SimulationContext` class. This is " +"because the off-screen rendering pipeline enables flags that are " +"internally used by the SimulationContext class." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:51 +msgid "" +"To set the environment variables, one can use the following command in " +"the terminal:" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:60 +msgid "" +"Alternatively, one can set the environment variables to the python script" +" directly:" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:68 +msgid "Overriding the environment variables" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:70 +msgid "" +"The environment variables can be overridden in the python script itself " +"using the :class:`AppLauncher`. These can be passed as a dictionary, a " +":class:`argparse.Namespace` object or as keyword arguments. When the " +"passed arguments are not the default values, then they override the " +"environment variables." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:74 +msgid "" +"The following snippet shows how use the :class:`AppLauncher` in different" +" ways:" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.app.rst:106 +msgid "Simulation App Launcher" +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher:3 +msgid "" +"The class resolves the simulation app settings that appear through " +"environments variables, command-line arguments (CLI) or as input keyword " +"arguments. Based on these settings, it launches the simulation app and " +"configures the extensions to load (as a part of post-launch setup)." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher:7 +msgid "" +"The input arguments provided to the class are given higher priority than " +"the values set from the corresponding environment variables. This " +"provides flexibility to deal with different users' preferences." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher:12 +msgid "" +"Explicitly defined arguments are only given priority when their value is " +"set to something outside their default configuration. For example, the " +"``livestream`` argument is -1 by default. It only overrides the " +"``LIVESTREAM`` environment variable when ``livestream`` argument is set " +"to a value >-1. In other words, if ``livestream=-1``, then the value from" +" the environment variable ``LIVESTREAM`` is used." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher:1 +msgid "**Methods:**" +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(\\[launcher\\_args\\]\\)" +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:1 +#: omni.isaac.lab.app.app_launcher.AppLauncher:1::1 +msgid "Create a `SimulationApp`_ instance based on the input settings." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher:1::1 +msgid "" +":py:obj:`add_app_launcher_args " +"`\\ \\(parser\\)" +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:1 +#: omni.isaac.lab.app.app_launcher.AppLauncher:1::1 +msgid "" +"Utility function to configure AppLauncher arguments with an existing " +"argument parser object." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher:1 +msgid "**Attributes:**" +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:1::1 +msgid ":py:obj:`app `\\" +msgstr "" + +#: of omni.isaac.lab.app.AppLauncher.app:1 +#: omni.isaac.lab.app.app_launcher.AppLauncher.__init__:1::1 +msgid "The launched SimulationApp." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.__init__ +#: omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:3 +msgid "" +"Input arguments to parse using the AppLauncher and set into the " +"SimulationApp. Defaults to None, which is equivalent to passing an empty " +"dictionary. A detailed description of the possible arguments is available" +" in the `SimulationApp`_ documentation." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:6 +msgid "" +"Additional keyword arguments that will be merged into " +":attr:`launcher_args`. They serve as a convenience for those who want to " +"pass some arguments using the argparse interface and others directly into" +" the AppLauncher. Duplicated arguments with the :attr:`launcher_args` " +"will raise a ValueError." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.__init__ +msgid "Raises" +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:11 +msgid "" +"If there are common/duplicated arguments between ``launcher_args`` and " +"``kwargs``." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:12 +msgid "" +"If combination of ``launcher_args`` and ``kwargs`` are missing the " +"necessary arguments that are needed by the AppLauncher to resolve the" +" desired app configuration." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.__init__:13 +msgid "" +"If incompatible or undefined values are assigned to relevant environment " +"values, such as ``LIVESTREAM``." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:3 +msgid "" +"This function takes an ``argparse.ArgumentParser`` object and does some " +"sanity checking on the existing arguments for ingestion by the " +"SimulationApp. It then appends custom command-line arguments relevant to " +"the SimulationApp to the input :class:`argparse.ArgumentParser` instance." +" This allows overriding the environment variables using command-line " +"arguments." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:8 +msgid "Currently, it adds the following parameters to the argparser object:" +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:10 +msgid "" +"``headless`` (bool): If True, the app will be launched in headless (no-" +"gui) mode. The values map the same as that for the ``HEADLESS`` " +"environment variable. If False, then headless mode is determined by the " +"``HEADLESS`` environment variable." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:13 +msgid "" +"``livestream`` (int): If one of {0, 1, 2}, then livestreaming and " +"headless mode is enabled. The values map the same as that for the " +"``LIVESTREAM`` environment variable. If :obj:`-1`, then livestreaming is " +"determined by the ``LIVESTREAM`` environment variable." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:16 +msgid "" +"``enable_cameras`` (bool): If True, the app will enable camera sensors " +"and render them, even when in headless mode. This flag must be set to " +"True if the environments contains any camera sensors. The values map the " +"same as that for the ``ENABLE_CAMERAS`` environment variable. If False, " +"then enable_cameras mode is determined by the ``ENABLE_CAMERAS`` " +"environment variable." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:20 +msgid "" +"``device_id`` (int): If specified, simulation will run on the specified " +"GPU device." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:21 +msgid "" +"``experience`` (str): The experience file to load when launching the " +"SimulationApp. If a relative path is provided, it is resolved relative to" +" the ``apps`` folder in Isaac Sim and Isaac Lab (in that order)." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:24 +msgid "" +"If provided as an empty string, the experience file is determined based " +"on the headless flag:" +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:26 +msgid "" +"If headless and enable_cameras are True, the experience file is set to " +"``isaaclab.python.headless.rendering.kit``." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:27 +msgid "" +"If headless is False and enable_cameras is True, the experience file is " +"set to ``isaaclab.python.rendering.kit``." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:28 +msgid "" +"If headless is False and enable_cameras is False, the experience file is " +"set to ``isaaclab.python.kit``." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:29 +msgid "" +"If headless is True and enable_cameras is False, the experience file is " +"set to ``isaaclab.python.headless.kit``." +msgstr "" + +#: of omni.isaac.lab.app.app_launcher.AppLauncher.add_app_launcher_args:31 +msgid "" +"An argument parser instance to be extended with the AppLauncher specific " +"options." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.assets.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.assets.po new file mode 100644 index 0000000000..0a3df22a39 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.assets.po @@ -0,0 +1,3383 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:2 +msgid "omni.isaac.lab.assets" +msgstr "" + +#: of omni.isaac.lab.assets:1 +msgid "Sub-package for different assets, such as rigid objects and articulations." +msgstr "" + +#: of omni.isaac.lab.assets:3 +msgid "" +"An asset is a physical object that can be spawned in the simulation. The " +"class handles both the spawning of the asset into the USD stage as well " +"as initialization of necessary physics handles to interact with the " +"asset." +msgstr "" + +#: of omni.isaac.lab.assets:7 +msgid "" +"Upon construction of the asset instance, the prim corresponding to the " +"asset is spawned into the USD stage if the spawn configuration is not " +"None. The spawn configuration is defined in the " +":attr:`AssetBaseCfg.spawn` attribute. In case the configured " +":attr:`AssetBaseCfg.prim_path` is an expression, then the prim is spawned" +" at all the matching paths. Otherwise, a single prim is spawned at the " +"configured path. For more information on the spawn configuration, see the" +" :mod:`omni.isaac.lab.sim.spawners` module." +msgstr "" + +#: of omni.isaac.lab.assets:14 +msgid "" +"The asset class also registers callbacks for the stage play/stop events. " +"These are used to construct the physics handles for the asset as the " +"physics engine is only available when the stage is playing. Additionally," +" the class registers a callback for debug visualization of the asset. " +"This can be enabled by setting the :attr:`AssetBaseCfg.debug_vis` " +"attribute to True." +msgstr "" + +#: of omni.isaac.lab.assets:19 +msgid "The asset class follows the following naming convention for its methods:" +msgstr "" + +#: of omni.isaac.lab.assets:21 +msgid "" +"**set_xxx()**: These are used to only set the buffers into the " +":attr:`data` instance. However, they do not write the data into the " +"simulator. The writing of data only happens when the " +":meth:`write_data_to_sim` method is called." +msgstr "" + +#: of omni.isaac.lab.assets:24 +msgid "" +"**write_xxx_to_sim()**: These are used to set the buffers into the " +":attr:`data` instance and write the corresponding data into the simulator" +" as well." +msgstr "" + +#: of omni.isaac.lab.assets:26 +msgid "" +"**update(dt)**: These are used to update the buffers in the :attr:`data` " +"instance. This should be called after a simulation step is performed." +msgstr "" + +#: of omni.isaac.lab.assets:29 +msgid "" +"The main reason to separate the ``set`` and ``write`` operations is to " +"provide flexibility to the user when they need to perform a post-" +"processing operation of the buffers before applying them into the " +"simulator. A common example for this is dealing with explicit actuator " +"models where the specified joint targets are not directly applied to the " +"simulator but are instead used to compute the corresponding actuator " +"torques." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`AssetBase `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 of +#: omni.isaac.lab.assets.asset_base.AssetBase:1 +msgid "The base interface class for assets." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`AssetBaseCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 of +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg:1 +msgid "The base configuration class for an asset's parameters." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`RigidObject `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 of +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1 +msgid "A rigid object asset class." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`RigidObjectData `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:1 +msgid "Data container for a rigid object." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`RigidObjectCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 of +#: omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg:1 +msgid "Configuration parameters for a rigid object." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`Articulation `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1 +msgid "An articulation asset class." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`ArticulationData `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData:1 +msgid "Data container for an articulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 +msgid ":py:obj:`ArticulationCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:17::1 of +#: omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg:1 +msgid "Configuration parameters for an articulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:22 +msgid "Asset Base" +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase:3 +msgid "" +"An asset corresponds to any physics-enabled object that can be spawned in" +" the simulation. These include rigid objects, articulated objects, " +"deformable objects etc. The core functionality of an asset is to provide " +"a set of buffers that can be used to interact with the simulator. The " +"buffers are updated by the asset class and can be written into the " +"simulator using the their respective ``write`` methods. This allows a " +"convenient way to perform post-processing operations on the buffers " +"before writing them into the simulator and obtaining the corresponding " +"simulation results." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase:10 +msgid "" +"The class handles both the spawning of the asset into the USD stage as " +"well as initialization of necessary physics handles to interact with the " +"asset. Upon construction of the asset instance, the prim corresponding to" +" the asset is spawned into the USD stage if the spawn configuration is " +"not None. The spawn configuration is defined in the " +":attr:`AssetBaseCfg.spawn` attribute. In case the configured " +":attr:`AssetBaseCfg.prim_path` is an expression, then the prim is spawned" +" at all the matching paths. Otherwise, a single prim is spawned at the " +"configured path. For more information on the spawn configuration, see the" +" :mod:`omni.isaac.lab.sim.spawners` module." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase:18 +msgid "" +"Unlike Isaac Sim interface, where one usually needs to call the " +":meth:`omni.isaac.core.prims.XFormPrimView.initialize` method to " +"initialize the PhysX handles, the asset class automatically initializes " +"and invalidates the PhysX handles when the stage is played/stopped. This " +"is done by registering callbacks for the stage play/stop events." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase:23 +msgid "" +"Additionally, the class registers a callback for debug visualization of " +"the asset if a debug visualization is implemented in the asset class. " +"This can be enabled by setting the :attr:`AssetBaseCfg.debug_vis` " +"attribute to True. The debug visualization is implemented through the " +":meth:`_set_debug_vis_impl` and :meth:`_debug_vis_callback` methods." +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation.Articulation:1 +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData:1 +#: omni.isaac.lab.assets.asset_base.AssetBase:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:1 +msgid "**Methods:**" +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1 +#: omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid "Initialize the asset base." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid "" +":py:obj:`set_debug_vis `\\" +" \\(debug\\_vis\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:1 +#: omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid "Sets whether to visualize the asset data." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.reset:1 +#: omni.isaac.lab.assets.asset_base.AssetBase.reset:1 +#: omni.isaac.lab.assets.asset_base.AssetBase:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.reset:1 +msgid "Resets all internal buffers of selected environments." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid "" +":py:obj:`write_data_to_sim " +"`\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase.write_data_to_sim:1 +#: omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid "Writes data to the simulator." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase:1::1 +msgid ":py:obj:`update `\\ \\(dt\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: omni.isaac.lab.assets.asset_base.AssetBase.update:1 +#: omni.isaac.lab.assets.asset_base.AssetBase:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.update:1 +msgid "Update the internal buffers." +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation.Articulation:1 +#: omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg:1 +#: omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1 +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData:1 +#: omni.isaac.lab.assets.asset_base.AssetBase:1 +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg:1 +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg.InitialStateCfg:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:1 +msgid "**Attributes:**" +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +msgid "" +":py:obj:`is_initialized " +"`\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.is_initialized:1 +#: omni.isaac.lab.assets.AssetBase.is_initialized:1 +#: omni.isaac.lab.assets.RigidObject.is_initialized:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +#: omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Whether the asset is initialized." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +msgid ":py:obj:`num_instances `\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.num_instances:1 +#: omni.isaac.lab.assets.AssetBase.num_instances:1 +#: omni.isaac.lab.assets.RigidObject.num_instances:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +#: omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Number of instances of the asset." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.device:1 +#: omni.isaac.lab.assets.AssetBase.device:1 +#: omni.isaac.lab.assets.RigidObject.device:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +#: omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Memory device for computation." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.data:1 +#: omni.isaac.lab.assets.AssetBase.data:1 +#: omni.isaac.lab.assets.RigidObject.data:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +#: omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Data related to the asset." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.has_debug_vis_implementation:1 +#: omni.isaac.lab.assets.AssetBase.has_debug_vis_implementation:1 +#: omni.isaac.lab.assets.RigidObject.has_debug_vis_implementation:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +#: omni.isaac.lab.assets.asset_base.AssetBase.__init__:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Whether the asset has a debug visualization implemented." +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation.Articulation.__init__ +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints +#: omni.isaac.lab.assets.articulation.articulation.Articulation.reset +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_damping +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit_stiffness +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_offset +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_rest_length +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_stiffness +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_effort_target +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_position_target +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_velocity_target +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_fixed_tendon_properties_to_sim +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_armature_to_sim +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_damping_to_sim +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_effort_limit_to_sim +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_friction_to_sim +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_limits_to_sim +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_state_to_sim +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_stiffness_to_sim +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_pose_to_sim +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_velocity_to_sim +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update +#: omni.isaac.lab.assets.asset_base.AssetBase.__init__ +#: omni.isaac.lab.assets.asset_base.AssetBase.reset +#: omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis +#: omni.isaac.lab.assets.asset_base.AssetBase.update +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.__init__ +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.reset +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.update +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_pose_to_sim +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_velocity_to_sim +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase.__init__:3 +msgid "The configuration class for the asset." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase.__init__ +msgid "Raises" +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase.__init__:5 +msgid "If no prims found at input prim path or prim path expression." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.is_initialized:3 +#: omni.isaac.lab.assets.AssetBase.is_initialized:3 +#: omni.isaac.lab.assets.RigidObject.is_initialized:3 +msgid "Returns True if the asset is initialized, False otherwise." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.num_instances:3 +#: omni.isaac.lab.assets.AssetBase.num_instances:3 +#: omni.isaac.lab.assets.RigidObject.num_instances:3 +msgid "" +"This is equal to the number of asset instances per environment multiplied" +" by the number of environments." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:3 +msgid "Whether to visualize the asset data." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints +#: omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies +msgid "Returns" +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase.set_debug_vis:5 +msgid "" +"Whether the debug visualization was successfully set. False if the asset " +"does not support debug visualization." +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation.Articulation.reset:3 +#: omni.isaac.lab.assets.asset_base.AssetBase.reset:3 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.reset:3 +msgid "The indices of the object to reset. Defaults to None (all instances)." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase.update:3 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.update:3 +msgid "" +"The time step ``dt`` is used to compute numerical derivatives of " +"quantities such as joint accelerations which are not provided by the " +"simulator." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base.AssetBase.update:6 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.update:6 +msgid "The amount of time passed from last ``update`` call." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg:3 +msgid "" +"Please see the :class:`AssetBase` class for more information on the asset" +" class." +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg:1 +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg:1 +msgid "**Classes:**" +msgstr "" + +#: of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg:1::1 +msgid "" +":py:obj:`InitialStateCfg " +"`\\" +msgstr "" + +#: of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1 +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg:1::1 +msgid "Initial state of the asset." +msgstr "" + +#: of +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid ":py:obj:`prim_path `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.prim_path:1 +#: omni.isaac.lab.assets.AssetBaseCfg.prim_path:1 +#: omni.isaac.lab.assets.RigidObjectCfg.prim_path:1 +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid "Prim path (or expression) to the asset." +msgstr "" + +#: of +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid ":py:obj:`spawn `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid "Spawn configuration for the asset." +msgstr "" + +#: of +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid ":py:obj:`init_state `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg.InitialStateCfg:1::1 +msgid "Initial state of the rigid object." +msgstr "" + +#: of +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid "" +":py:obj:`collision_group " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid "Collision group of the asset." +msgstr "" + +#: of +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid ":py:obj:`debug_vis `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:1::1 +msgid "Whether to enable debug visualization for the asset." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:3 +msgid "" +"This defines the default initial state of the asset when it is spawned " +"into the simulation, as well as the default state when the simulation is " +"reset." +msgstr "" + +#: of omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg:6 +msgid "" +"After parsing the initial state, the asset class stores this information " +"in the :attr:`data` attribute of the asset class. This can then be " +"accessed by the user to modify the state of the asset during the " +"simulation, for example, at resets." +msgstr "" + +#: of omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos:1::1 +msgid ":py:obj:`pos `\\" +msgstr "" + +#: of omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos:1::1 +msgid "Position of the root in simulation world frame." +msgstr "" + +#: of omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos:1::1 +msgid ":py:obj:`rot `\\" +msgstr "" + +#: of omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos:1::1 +msgid "Quaternion rotation (w, x, y, z) of the root in simulation world frame." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.pos:1 +#: omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.pos:1 +#: omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.pos:1 +msgid "" +"Position of the root in simulation world frame. Defaults to (0.0, 0.0, " +"0.0)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.rot:1 +#: omni.isaac.lab.assets.AssetBaseCfg.InitialStateCfg.rot:1 +#: omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.rot:1 +msgid "" +"Quaternion rotation (w, x, y, z) of the root in simulation world frame. " +"Defaults to (1.0, 0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.prim_path:4 +#: omni.isaac.lab.assets.AssetBaseCfg.prim_path:4 +#: omni.isaac.lab.assets.RigidObjectCfg.prim_path:4 +msgid "" +"The expression can contain the environment namespace regex " +"``{ENV_REGEX_NS}`` which will be replaced with the environment namespace." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.prim_path:7 +#: omni.isaac.lab.assets.AssetBaseCfg.prim_path:7 +#: omni.isaac.lab.assets.RigidObjectCfg.prim_path:7 +msgid "" +"Example: ``{ENV_REGEX_NS}/Robot`` will be replaced with " +"``/World/envs/env_.*/Robot``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.spawn:1 +#: omni.isaac.lab.assets.AssetBaseCfg.spawn:1 +#: omni.isaac.lab.assets.RigidObjectCfg.spawn:1 +msgid "Spawn configuration for the asset. Defaults to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.spawn:3 +#: omni.isaac.lab.assets.AssetBaseCfg.spawn:3 +#: omni.isaac.lab.assets.RigidObjectCfg.spawn:3 +msgid "" +"If None, then no prims are spawned by the asset class. Instead, it is " +"assumed that the asset is already present in the scene." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.AssetBaseCfg.init_state:1 +msgid "Initial state of the rigid object. Defaults to identity pose." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.collision_group:1 +#: omni.isaac.lab.assets.AssetBaseCfg.collision_group:1 +#: omni.isaac.lab.assets.RigidObjectCfg.collision_group:1 +msgid "Collision group of the asset. Defaults to ``0``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.collision_group:3 +#: omni.isaac.lab.assets.AssetBaseCfg.collision_group:3 +#: omni.isaac.lab.assets.RigidObjectCfg.collision_group:3 +msgid "``-1``: global collision group (collides with all assets in the scene)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.collision_group:4 +#: omni.isaac.lab.assets.AssetBaseCfg.collision_group:4 +#: omni.isaac.lab.assets.RigidObjectCfg.collision_group:4 +msgid "" +"``0``: local collision group (collides with other assets in the same " +"environment)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.debug_vis:1 +#: omni.isaac.lab.assets.AssetBaseCfg.debug_vis:1 +#: omni.isaac.lab.assets.RigidObjectCfg.debug_vis:1 +msgid "" +"Whether to enable debug visualization for the asset. Defaults to " +"``False``." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:32 +msgid "Rigid Object" +msgstr "" + +#: of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1 +msgid "Bases: :py:class:`~omni.isaac.lab.assets.asset_base.AssetBase`" +msgstr "" + +#: of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:3 +msgid "" +"Rigid objects are assets comprising of rigid bodies. They can be used to " +"represent dynamic objects such as boxes, spheres, etc. A rigid body is " +"described by its pose, velocity and mass distribution." +msgstr "" + +#: of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:6 +msgid "" +"For an asset to be considered a rigid object, the root prim of the asset " +"must have the `USD RigidBodyAPI`_ applied to it. This API is used to " +"define the simulation properties of the rigid body. On playing the " +"simulation, the physics engine will automatically register the rigid body" +" and create a corresponding rigid body handle. This handle can be " +"accessed using the :attr:`root_physx_view` attribute." +msgstr "" + +#: of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:13 +msgid "" +"For users familiar with Isaac Sim, the PhysX view class API is not the " +"exactly same as Isaac Sim view class API. Similar to Isaac Lab, Isaac Sim" +" wraps around the PhysX view API. However, as of now (2023.1 release), we" +" see a large difference in initializing the view classes in Isaac Sim. " +"This is because the view classes in Isaac Sim perform additional USD-" +"related operations which are slow and also not required." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.RigidObject.cfg:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Configuration instance for the rigid object." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "" +":py:obj:`num_instances " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`num_bodies `\\" +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.num_bodies:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Number of bodies in the asset." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`body_names `\\" +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.body_names:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Ordered names of bodies in the rigid object." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "" +":py:obj:`root_physx_view " +"`\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.body_physx_view:1 +#: omni.isaac.lab.assets.RigidObject.body_physx_view:1 +#: omni.isaac.lab.assets.RigidObject.root_physx_view:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "Rigid body view for the asset (PhysX)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "" +":py:obj:`body_physx_view " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject:1::1 +msgid "" +":py:obj:`is_initialized " +"`\\" +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.__init__:1 +msgid "Initialize the rigid object." +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid "" +":py:obj:`write_data_to_sim " +"`\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_data_to_sim:1 +msgid "Write external wrench to the simulation." +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid ":py:obj:`update `\\ \\(dt\\)" +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid "" +":py:obj:`find_bodies `\\ " +"\\(name\\_keys\\[\\, preserve\\_order\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:1 +msgid "Find bodies in the articulation based on the name keys." +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid "" +":py:obj:`write_root_state_to_sim " +"`\\ " +"\\(root\\_state\\[\\, env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim:1 +msgid "Set the root state over selected environment indices into the simulation." +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid "" +":py:obj:`write_root_pose_to_sim " +"`\\ " +"\\(root\\_pose\\[\\, env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_pose_to_sim:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_pose_to_sim:1 +msgid "Set the root pose over selected environment indices into the simulation." +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid "" +":py:obj:`write_root_velocity_to_sim " +"`\\ " +"\\(root\\_velocity\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_velocity_to_sim:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_velocity_to_sim:1 +msgid "" +"Set the root velocity over selected environment indices into the " +"simulation." +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid "" +":py:obj:`set_external_force_and_torque " +"`\\ " +"\\(forces\\, torques\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.RigidObject.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:1 +msgid "" +"Set external force and torque to apply on the asset's bodies in their " +"local frame." +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.cfg:1::1 +msgid "" +":py:obj:`set_debug_vis " +"`\\ \\(debug\\_vis\\)" +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation.Articulation.__init__:3 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.__init__:3 +msgid "A configuration instance." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.root_physx_view:3 +#: omni.isaac.lab.assets.RigidObject.root_physx_view:3 +msgid "" +"Use this view with caution. It requires handling of tensors in a specific" +" way." +msgstr "" + +#: of omni.isaac.lab.assets.RigidObject.body_physx_view:5 +msgid "" +"The attribute 'body_physx_view' will be removed in v0.4.0. Please use " +":attr:`root_physx_view` instead." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_data_to_sim:5 +msgid "" +"We write external wrench to the simulation here since this function is " +"called before the simulation step. This ensures that the external wrench " +"is applied at every simulation step." +msgstr "" + +#: of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:3 +msgid "" +"Please check the " +":meth:`omni.isaac.lab.utils.string_utils.resolve_matching_names` function" +" for more information on the name matching." +msgstr "" + +#: of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:6 +msgid "" +"A regular expression or a list of regular expressions to match the body " +"names." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons:10 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints:9 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:7 +msgid "" +"Whether to preserve the order of the name keys in the output. Defaults to" +" False." +msgstr "" + +#: of omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.find_bodies:9 +msgid "A tuple of lists containing the body indices and names." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim:3 +msgid "" +"The root state comprises of the cartesian position, quaternion " +"orientation in (w, x, y, z), and linear and angular velocity. All the " +"quantities are in the simulation frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim:6 +msgid "Root state in simulation frame. Shape is (len(env_ids), 13)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_pose_to_sim:6 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_velocity_to_sim:4 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_pose_to_sim:6 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_state_to_sim:7 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_velocity_to_sim:4 +msgid "Environment indices. If None, then all indices are used." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_pose_to_sim:3 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_pose_to_sim:3 +msgid "" +"The root pose comprises of the cartesian position and quaternion " +"orientation in (w, x, y, z)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_pose_to_sim:5 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_pose_to_sim:5 +msgid "Root poses in simulation frame. Shape is (len(env_ids), 7)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_root_velocity_to_sim:3 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.write_root_velocity_to_sim:3 +msgid "Root velocities in simulation frame. Shape is (len(env_ids), 6)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:3 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:3 +msgid "" +"For many applications, we want to keep the applied external force on " +"rigid bodies constant over a period of time (for instance, during the " +"policy control). This function allows us to store the external force and " +"torque into buffers which are then applied to the simulation at every " +"step." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:8 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:8 +msgid "" +"If the function is called with empty forces and torques, then this " +"function disables the application of external wrench to the simulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:17 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:17 +msgid "" +"This function does not apply the external wrench to the simulation. It " +"only fills the buffers with the desired values. To apply the external " +"wrench, call the :meth:`write_data_to_sim` function right before the " +"simulation step." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:21 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:21 +msgid "" +"External forces in bodies' local frame. Shape is (len(env_ids), " +"len(body_ids), 3)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:22 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:22 +msgid "" +"External torques in bodies' local frame. Shape is (len(env_ids), " +"len(body_ids), 3)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:23 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:23 +msgid "Body indices to apply external wrench to. Defaults to None (all bodies)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_external_force_and_torque:24 +#: omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject.set_external_force_and_torque:24 +msgid "" +"Environment indices to apply external wrench to. Defaults to None (all " +"instances)." +msgstr "" + +#: of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:3 +msgid "" +"This class contains the data for a rigid object in the simulation. The " +"data includes the state of the root rigid body and the state of all the " +"bodies in the object. The data is stored in the simulation world frame " +"unless otherwise specified." +msgstr "" + +#: of omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:7 +msgid "" +"The data is lazily updated, meaning that the data is only updated when it" +" is accessed. This is useful when the data is expensive to compute or " +"retrieve. The data is updated when the timestamp of the buffer is older " +"than the current simulation timestamp. The timestamp is updated whenever " +"the data is updated." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:1::1 +msgid ":py:obj:`update `\\ \\(dt\\)" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1 +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData:1::1 +msgid "Updates the data for the rigid object." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`body_names `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.body_names:1 +#: omni.isaac.lab.assets.RigidObjectData.body_names:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Body names in the order parsed by the simulation view." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +":py:obj:`default_root_state " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +"Default root state ``[pos, quat, lin_vel, ang_vel]`` in local environment" +" frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +":py:obj:`default_mass " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Default mass provided by simulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +":py:obj:`root_state_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root state ``[pos, quat, lin_vel, ang_vel]`` in simulation world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +":py:obj:`body_state_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +"State of all bodies `[pos, quat, lin_vel, ang_vel]` in simulation world " +"frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`body_acc_w `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Acceleration of all bodies." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +":py:obj:`projected_gravity_b " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Projection of the gravity direction on base frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`heading_w `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Yaw heading of the base frame (in radians)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`root_pos_w `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root position in simulation world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +":py:obj:`root_quat_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root orientation (w, x, y, z) in simulation world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`root_vel_w `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root velocity in simulation world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +":py:obj:`root_lin_vel_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root linear velocity in simulation world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +":py:obj:`root_ang_vel_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root angular velocity in simulation world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +":py:obj:`root_lin_vel_b " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root linear velocity in base frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +":py:obj:`root_ang_vel_b " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Root angular velocity in base world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`body_pos_w `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Positions of all bodies in simulation world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +":py:obj:`body_quat_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Orientation (w, x, y, z) of all bodies in simulation world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid ":py:obj:`body_vel_w `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Velocity of all bodies in simulation world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +":py:obj:`body_lin_vel_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Linear velocity of all bodies in simulation world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "" +":py:obj:`body_ang_vel_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:1::1 +msgid "Angular velocity of all bodies in simulation world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:3 +#: omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData.update:3 +msgid "The time step for the update. This must be a positive value." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.default_root_state:1 +#: omni.isaac.lab.assets.RigidObjectData.default_root_state:1 +msgid "" +"Default root state ``[pos, quat, lin_vel, ang_vel]`` in local environment" +" frame. Shape is (num_instances, 13)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.default_mass:1 +#: omni.isaac.lab.assets.RigidObjectData.default_mass:1 +msgid "Default mass provided by simulation. Shape is (num_instances, num_bodies)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.root_state_w:1 +#: omni.isaac.lab.assets.RigidObjectData.root_state_w:1 +msgid "" +"Root state ``[pos, quat, lin_vel, ang_vel]`` in simulation world frame. " +"Shape is (num_instances, 13)." +msgstr "" + +#: of omni.isaac.lab.assets.RigidObjectData.body_state_w:1 +msgid "" +"State of all bodies `[pos, quat, lin_vel, ang_vel]` in simulation world " +"frame. Shape is (num_instances, 1, 13)." +msgstr "" + +#: of omni.isaac.lab.assets.RigidObjectData.body_acc_w:1 +msgid "Acceleration of all bodies. Shape is (num_instances, 1, 6)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.projected_gravity_b:1 +#: omni.isaac.lab.assets.RigidObjectData.projected_gravity_b:1 +msgid "" +"Projection of the gravity direction on base frame. Shape is " +"(num_instances, 3)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.heading_w:1 +#: omni.isaac.lab.assets.RigidObjectData.heading_w:1 +msgid "Yaw heading of the base frame (in radians). Shape is (num_instances,)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.heading_w:5 +#: omni.isaac.lab.assets.RigidObjectData.heading_w:5 +msgid "" +"This quantity is computed by assuming that the forward-direction of the " +"base frame is along x-direction, i.e. :math:`(1, 0, 0)`." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.root_pos_w:1 +#: omni.isaac.lab.assets.RigidObjectData.root_pos_w:1 +msgid "Root position in simulation world frame. Shape is (num_instances, 3)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.root_quat_w:1 +#: omni.isaac.lab.assets.RigidObjectData.root_quat_w:1 +msgid "" +"Root orientation (w, x, y, z) in simulation world frame. Shape is " +"(num_instances, 4)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.root_vel_w:1 +#: omni.isaac.lab.assets.RigidObjectData.root_vel_w:1 +msgid "Root velocity in simulation world frame. Shape is (num_instances, 6)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.root_lin_vel_w:1 +#: omni.isaac.lab.assets.RigidObjectData.root_lin_vel_w:1 +msgid "" +"Root linear velocity in simulation world frame. Shape is (num_instances, " +"3)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.root_ang_vel_w:1 +#: omni.isaac.lab.assets.RigidObjectData.root_ang_vel_w:1 +msgid "" +"Root angular velocity in simulation world frame. Shape is (num_instances," +" 3)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.root_lin_vel_b:1 +#: omni.isaac.lab.assets.RigidObjectData.root_lin_vel_b:1 +msgid "Root linear velocity in base frame. Shape is (num_instances, 3)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.root_ang_vel_b:1 +#: omni.isaac.lab.assets.RigidObjectData.root_ang_vel_b:1 +msgid "Root angular velocity in base world frame. Shape is (num_instances, 3)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.body_pos_w:1 +#: omni.isaac.lab.assets.RigidObjectData.body_pos_w:1 +msgid "" +"Positions of all bodies in simulation world frame. Shape is " +"(num_instances, num_bodies, 3)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.body_quat_w:1 +#: omni.isaac.lab.assets.RigidObjectData.body_quat_w:1 +msgid "" +"Orientation (w, x, y, z) of all bodies in simulation world frame. Shape " +"is (num_instances, num_bodies, 4)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.body_vel_w:1 +#: omni.isaac.lab.assets.RigidObjectData.body_vel_w:1 +msgid "" +"Velocity of all bodies in simulation world frame. Shape is " +"(num_instances, num_bodies, 6)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.body_lin_vel_w:1 +#: omni.isaac.lab.assets.RigidObjectData.body_lin_vel_w:1 +msgid "" +"Linear velocity of all bodies in simulation world frame. Shape is " +"(num_instances, num_bodies, 3)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.body_ang_vel_w:1 +#: omni.isaac.lab.assets.RigidObjectData.body_ang_vel_w:1 +msgid "" +"Angular velocity of all bodies in simulation world frame. Shape is " +"(num_instances, num_bodies, 3)." +msgstr "" + +#: of omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg:1::1 +msgid "" +":py:obj:`InitialStateCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg.InitialStateCfg:1 +#: omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg:1::1 +msgid "Initial state of the rigid body." +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg.InitialStateCfg:1::1 +msgid ":py:obj:`init_state `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg.InitialStateCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.assets.asset_base_cfg.AssetBaseCfg.InitialStateCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel:1::1 +msgid "" +":py:obj:`lin_vel " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel:1::1 +msgid "Linear velocity of the root in simulation world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel:1::1 +msgid "" +":py:obj:`ang_vel " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel:1::1 +msgid "Angular velocity of the root in simulation world frame." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.lin_vel:1 +#: omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.lin_vel:1 +msgid "" +"Linear velocity of the root in simulation world frame. Defaults to (0.0, " +"0.0, 0.0)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.ang_vel:1 +#: omni.isaac.lab.assets.RigidObjectCfg.InitialStateCfg.ang_vel:1 +msgid "" +"Angular velocity of the root in simulation world frame. Defaults to (0.0," +" 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.RigidObjectCfg.init_state:1 +msgid "" +"Initial state of the rigid object. Defaults to identity pose with zero " +"velocity." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.assets.rst:52 +msgid "Articulation" +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation.Articulation:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.assets.rigid_object.rigid_object.RigidObject`" +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation.Articulation:3 +msgid "" +"An articulation is a collection of rigid bodies connected by joints. The " +"joints can be either fixed or actuated. The joints can be of different " +"types, such as revolute, prismatic, D-6, etc. However, the articulation " +"class has currently been tested with revolute and prismatic joints. The " +"class supports both floating-base and fixed-base articulations. The type " +"of articulation is determined based on the root joint of the " +"articulation. If the root joint is fixed, then the articulation is " +"considered a fixed-base system. Otherwise, it is considered a floating-" +"base system. This can be checked using the " +":attr:`Articulation.is_fixed_base` attribute." +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation.Articulation:11 +msgid "" +"For an asset to be considered an articulation, the root prim of the asset" +" must have the `USD ArticulationRootAPI`_. This API is used to define the" +" sub-tree of the articulation using the reduced coordinate formulation. " +"On playing the simulation, the physics engine parses the articulation " +"root prim and creates the corresponding articulation in the physics " +"engine. The articulation root prim can be specified using the " +":attr:`AssetBaseCfg.prim_path` attribute." +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation.Articulation:17 +msgid "" +"The articulation class is a subclass of the :class:`RigidObject` class. " +"Therefore, it inherits all the functionality of the rigid object class. " +"In case of an articulation, the :attr:`root_physx_view` attribute " +"corresponds to the articulation root view and can be used to access the " +"articulation related data." +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation.Articulation:22 +msgid "" +"The articulation class also provides the functionality to augment the " +"simulation of an articulated system with custom actuator models. These " +"models can either be explicit or implicit, as detailed in the " +":mod:`omni.isaac.lab.actuators` module. The actuator models are specified" +" using the :attr:`ArticulationCfg.actuators` attribute. These are then " +"parsed and used to initialize the corresponding actuator models, when the" +" simulation is played." +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation.Articulation:28 +msgid "" +"During the simulation step, the articulation class first applies the " +"actuator models to compute the joint commands based on the user-specified" +" targets. These joint commands are then applied into the simulation. The " +"joint commands can be either position, velocity, or effort commands. As " +"an example, the following snippet shows how this can be used for position" +" commands:" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.Articulation.cfg:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Configuration instance for the articulations." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`actuators `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.Articulation.actuators:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Dictionary of actuator instances for the articulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "" +":py:obj:`is_fixed_base " +"`\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.is_fixed_base:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Whether the articulation is a fixed-base or floating-base system." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`num_joints `\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.num_joints:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Number of joints in articulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "" +":py:obj:`num_fixed_tendons " +"`\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.num_fixed_tendons:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Number of fixed tendons in articulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`num_bodies `\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.num_bodies:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Number of bodies in articulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`joint_names `\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.joint_names:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Ordered names of joints in articulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "" +":py:obj:`fixed_tendon_names " +"`\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.fixed_tendon_names:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Ordered names of fixed tendons in articulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`body_names `\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.body_names:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Ordered names of bodies in articulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "" +":py:obj:`root_physx_view " +"`\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.root_physx_view:1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "Articulation view for the asset (PhysX)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "" +":py:obj:`body_physx_view " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "" +":py:obj:`is_initialized " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation:1::1 +msgid "" +":py:obj:`num_instances " +"`\\" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.__init__:1 +msgid "Initialize the articulation." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`write_data_to_sim " +"`\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_data_to_sim:1 +msgid "Write external wrenches and joint commands to the simulation." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`find_joints `\\ " +"\\(name\\_keys\\[\\, joint\\_subset\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints:1 +msgid "Find joints in the articulation based on the name keys." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`find_fixed_tendons " +"`\\ " +"\\(name\\_keys\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons:1 +msgid "Find fixed tendons in the articulation based on the name keys." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`set_external_force_and_torque " +"`\\ " +"\\(forces\\, torques\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`write_root_pose_to_sim " +"`\\ " +"\\(root\\_pose\\[\\, env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`write_root_velocity_to_sim " +"`\\ " +"\\(root\\_velocity\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`write_joint_state_to_sim " +"`\\ " +"\\(position\\, velocity\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_state_to_sim:1 +msgid "Write joint positions and velocities to the simulation." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`write_joint_stiffness_to_sim " +"`\\ " +"\\(stiffness\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_stiffness_to_sim:1 +msgid "Write joint stiffness into the simulation." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`write_joint_damping_to_sim " +"`\\ " +"\\(damping\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_damping_to_sim:1 +msgid "Write joint damping into the simulation." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`write_joint_effort_limit_to_sim " +"`\\ " +"\\(limits\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_effort_limit_to_sim:1 +msgid "Write joint effort limits into the simulation." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`write_joint_armature_to_sim " +"`\\ " +"\\(armature\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_armature_to_sim:1 +msgid "Write joint armature into the simulation." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`write_joint_friction_to_sim " +"`\\ " +"\\(joint\\_friction\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_friction_to_sim:1 +msgid "Write joint friction into the simulation." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`write_joint_limits_to_sim " +"`\\ " +"\\(limits\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_limits_to_sim:1 +msgid "Write joint limits into the simulation." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`set_joint_position_target " +"`\\ " +"\\(target\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_position_target:1 +msgid "Set joint position targets into internal buffers." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`set_joint_velocity_target " +"`\\ " +"\\(target\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_velocity_target:1 +msgid "Set joint velocity targets into internal buffers." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`set_joint_effort_target " +"`\\ " +"\\(target\\[\\, joint\\_ids\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_effort_target:1 +msgid "Set joint efforts into internal buffers." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`set_fixed_tendon_stiffness " +"`\\ " +"\\(stiffness\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_stiffness:1 +msgid "Set fixed tendon stiffness into internal buffers." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`set_fixed_tendon_damping " +"`\\ " +"\\(damping\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_damping:1 +msgid "Set fixed tendon damping into internal buffers." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`set_fixed_tendon_limit_stiffness " +"`\\ " +"\\(limit\\_stiffness\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit_stiffness:1 +msgid "Set fixed tendon limit stiffness efforts into internal buffers." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`set_fixed_tendon_limit " +"`\\ " +"\\(limit\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit:1 +msgid "Set fixed tendon limit efforts into internal buffers." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`set_fixed_tendon_rest_length " +"`\\ " +"\\(rest\\_length\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_rest_length:1 +msgid "Set fixed tendon rest length efforts into internal buffers." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`set_fixed_tendon_offset " +"`\\ " +"\\(offset\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_offset:1 +msgid "Set fixed tendon offset efforts into internal buffers." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`write_fixed_tendon_properties_to_sim " +"`\\" +" \\(\\[...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_fixed_tendon_properties_to_sim:1 +msgid "Write fixed tendon properties into the simulation." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`find_bodies `\\ " +"\\(name\\_keys\\[\\, preserve\\_order\\]\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`set_debug_vis " +"`\\ \\(debug\\_vis\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid ":py:obj:`update `\\ \\(dt\\)" +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.cfg:1::1 +msgid "" +":py:obj:`write_root_state_to_sim " +"`\\ " +"\\(root\\_state\\[\\, env\\_ids\\]\\)" +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.Articulation.actuators:3 +msgid "" +"The keys are the actuator names and the values are the actuator " +"instances. The actuator instances are initialized based on the actuator " +"configurations specified in the :attr:`ArticulationCfg.actuators` " +"attribute. They are used to compute the joint commands during the " +":meth:`write_data_to_sim` function." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.body_physx_view:5 +msgid "" +"In previous versions, this attribute returned the rigid body view over " +"all the links of the articulation. However, this led to confusion with " +"the link ordering as they were not ordered in the same way as the " +"articulation view." +msgstr "" + +#: of omni.isaac.lab.assets.Articulation.body_physx_view:9 +msgid "" +"Therefore, this attribute will be removed in v0.4.0. Please use the " +":attr:`root_physx_view` attribute instead." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_data_to_sim:3 +msgid "" +"If any explicit actuators are present, then the actuator models are used " +"to compute the joint commands. Otherwise, the joint commands are directly" +" set into the simulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons:3 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints:3 +msgid "" +"Please see the :func:`omni.isaac.lab.utils.string.resolve_matching_names`" +" function for more information on the name matching." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints:6 +msgid "" +"A regular expression or a list of regular expressions to match the joint " +"names." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints:7 +msgid "" +"A subset of joints to search for. Defaults to None, which means all " +"joints in the articulation are searched." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_joints:11 +msgid "A tuple of lists containing the joint indices and names." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons:6 +msgid "" +"A regular expression or a list of regular expressions to match the joint " +"names with fixed tendons." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons:8 +msgid "" +"A subset of joints with fixed tendons to search for. Defaults to None, " +"which means all joints in the articulation are searched." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.find_fixed_tendons:12 +msgid "A tuple of lists containing the tendon indices and names." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_state_to_sim:3 +msgid "Joint positions. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_state_to_sim:4 +msgid "Joint velocities. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_effort_target:8 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_position_target:8 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_velocity_target:8 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_state_to_sim:5 +msgid "The joint indices to set the targets for. Defaults to None (all joints)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_effort_target:9 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_position_target:9 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_velocity_target:9 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_state_to_sim:6 +msgid "" +"The environment indices to set the targets for. Defaults to None (all " +"environments)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_stiffness_to_sim:3 +msgid "Joint stiffness. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_stiffness_to_sim:4 +msgid "The joint indices to set the stiffness for. Defaults to None (all joints)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_stiffness:9 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_stiffness_to_sim:5 +msgid "" +"The environment indices to set the stiffness for. Defaults to None (all " +"environments)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_damping_to_sim:3 +msgid "Joint damping. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_damping_to_sim:4 +msgid "The joint indices to set the damping for. Defaults to None (all joints)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_damping:9 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_damping_to_sim:6 +msgid "" +"The environment indices to set the damping for. Defaults to None (all " +"environments)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_effort_limit_to_sim:3 +msgid "Joint torque limits. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_armature_to_sim:4 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_effort_limit_to_sim:4 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_friction_to_sim:4 +msgid "" +"The joint indices to set the joint torque limits for. Defaults to None " +"(all joints)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_armature_to_sim:5 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_effort_limit_to_sim:5 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_friction_to_sim:5 +msgid "" +"The environment indices to set the joint torque limits for. Defaults to " +"None (all environments)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_armature_to_sim:3 +msgid "Joint armature. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_friction_to_sim:3 +msgid "Joint friction. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_limits_to_sim:3 +msgid "Joint limits. Shape is (len(env_ids), len(joint_ids), 2)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_limits_to_sim:4 +msgid "The joint indices to set the limits for. Defaults to None (all joints)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_fixed_tendon_properties_to_sim:4 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_joint_limits_to_sim:5 +msgid "" +"The environment indices to set the limits for. Defaults to None (all " +"environments)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_effort_target:4 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_position_target:4 +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_velocity_target:4 +msgid "" +"This function does not apply the joint targets to the simulation. It only" +" fills the buffers with the desired values. To apply the joint targets, " +"call the :meth:`write_data_to_sim` function." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_position_target:7 +msgid "Joint position targets. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_velocity_target:7 +msgid "Joint velocity targets. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_joint_effort_target:7 +msgid "Joint effort targets. Shape is (len(env_ids), len(joint_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_stiffness:4 +msgid "" +"This function does not apply the tendon stiffness to the simulation. It " +"only fills the buffers with the desired values. To apply the tendon " +"stiffness, call the :meth:`write_fixed_tendon_properties_to_sim` " +"function." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_stiffness:7 +msgid "Fixed tendon stiffness. Shape is (len(env_ids), len(fixed_tendon_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_stiffness:8 +msgid "" +"The tendon indices to set the stiffness for. Defaults to None (all fixed " +"tendons)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_damping:4 +msgid "" +"This function does not apply the tendon damping to the simulation. It " +"only fills the buffers with the desired values. To apply the tendon " +"damping, call the :meth:`write_fixed_tendon_properties_to_sim` function." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_damping:7 +msgid "Fixed tendon damping. Shape is (len(env_ids), len(fixed_tendon_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_damping:8 +msgid "" +"The tendon indices to set the damping for. Defaults to None (all fixed " +"tendons)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit_stiffness:4 +msgid "" +"This function does not apply the tendon limit stiffness to the " +"simulation. It only fills the buffers with the desired values. To apply " +"the tendon limit stiffness, call the " +":meth:`write_fixed_tendon_properties_to_sim` function." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit_stiffness:7 +msgid "" +"Fixed tendon limit stiffness. Shape is (len(env_ids), " +"len(fixed_tendon_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit_stiffness:8 +msgid "" +"The tendon indices to set the limit stiffness for. Defaults to None (all " +"fixed tendons)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit_stiffness:9 +msgid "" +"The environment indices to set the limit stiffness for. Defaults to None " +"(all environments)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit:4 +msgid "" +"This function does not apply the tendon limit to the simulation. It only " +"fills the buffers with the desired values. To apply the tendon limit, " +"call the :meth:`write_fixed_tendon_properties_to_sim` function." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit:9 +msgid "Args:" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_limit:8 +msgid "" +"limit: Fixed tendon limit. Shape is (len(env_ids), " +"len(fixed_tendon_ids)). fixed_tendon_ids: The tendon indices to set the " +"limit for. Defaults to None (all fixed tendons). env_ids: The environment" +" indices to set the limit for. Defaults to None (all environments)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_rest_length:4 +msgid "" +"This function does not apply the tendon rest length to the simulation. It" +" only fills the buffers with the desired values. To apply the tendon rest" +" length, call the :meth:`write_fixed_tendon_properties_to_sim` function." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_rest_length:7 +msgid "Fixed tendon rest length. Shape is (len(env_ids), len(fixed_tendon_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_rest_length:8 +msgid "" +"The tendon indices to set the rest length for. Defaults to None (all " +"fixed tendons)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_rest_length:9 +msgid "" +"The environment indices to set the rest length for. Defaults to None (all" +" environments)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_offset:4 +msgid "" +"This function does not apply the tendon offset to the simulation. It only" +" fills the buffers with the desired values. To apply the tendon offset, " +"call the :meth:`write_fixed_tendon_properties_to_sim` function." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_offset:7 +msgid "Fixed tendon offset. Shape is (len(env_ids), len(fixed_tendon_ids))." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_offset:8 +msgid "" +"The tendon indices to set the offset for. Defaults to None (all fixed " +"tendons)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.set_fixed_tendon_offset:9 +msgid "" +"The environment indices to set the offset for. Defaults to None (all " +"environments)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation.Articulation.write_fixed_tendon_properties_to_sim:3 +msgid "" +"The fixed tendon indices to set the limits for. Defaults to None (all " +"fixed tendons)." +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.assets.rigid_object.rigid_object_data.RigidObjectData`" +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation_data.ArticulationData:3 +msgid "" +"This class extends the :class:`RigidObjectData` class to provide " +"additional data for an articulation mainly related to the joints and " +"tendons." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData:1::1 +msgid "" +":py:obj:`update `\\ " +"\\(dt\\)" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`joint_names " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_names:1 +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint names in the order parsed by the simulation view." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`fixed_tendon_names " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.fixed_tendon_names:1 +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Fixed tendon names in the order parsed by the simulation view." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`default_joint_pos " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default joint positions of all joints." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`default_joint_vel " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default joint velocities of all joints." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`default_joint_stiffness " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default joint stiffness of all joints." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`default_joint_damping " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default joint damping of all joints." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`default_joint_armature " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default joint armature of all joints." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`default_joint_friction " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default joint friction of all joints." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`default_joint_limits " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default joint limits of all joints." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`default_fixed_tendon_stiffness " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default tendon stiffness of all tendons." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`default_fixed_tendon_damping " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default tendon damping of all tendons." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`default_fixed_tendon_limit_stiffness " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default tendon limit stiffness of all tendons." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`default_fixed_tendon_rest_length " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default tendon rest length of all tendons." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`default_fixed_tendon_offset " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default tendon offset of all tendons." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`default_fixed_tendon_limit " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Default tendon limits of all tendons." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`joint_pos_target " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint position targets commanded by the user." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`joint_vel_target " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint velocity targets commanded by the user." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`joint_effort_target " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint effort targets commanded by the user." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`computed_torque " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint torques computed from the actuator model (before clipping)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`applied_torque " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint torques applied from the actuator model (after clipping)." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`body_ang_vel_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`body_lin_vel_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`body_pos_w `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`body_quat_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`body_vel_w `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`heading_w `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`joint_stiffness " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint stiffness provided to simulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`projected_gravity_b " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`root_ang_vel_b " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`root_ang_vel_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`root_lin_vel_b " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`root_lin_vel_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`root_pos_w `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`root_quat_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`root_vel_w `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`joint_damping " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint damping provided to simulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`joint_armature " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint armature provided to simulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`joint_friction " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint friction provided to simulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`joint_limits " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint limits provided to simulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`fixed_tendon_stiffness " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Fixed tendon stiffness provided to simulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`fixed_tendon_damping " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Fixed tendon damping provided to simulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`fixed_tendon_limit_stiffness " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Fixed tendon limit stiffness provided to simulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`fixed_tendon_rest_length " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Fixed tendon rest length provided to simulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`fixed_tendon_offset " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Fixed tendon offset provided to simulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`fixed_tendon_limit " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Fixed tendon limits provided to simulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`soft_joint_pos_limits " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint positions limits for all joints." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`soft_joint_vel_limits " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint velocity limits for all joints." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`gear_ratio `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Gear ratio for relating motor torques to applied Joint torques." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`root_state_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`body_state_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`body_acc_w `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`body_lin_acc_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Linear acceleration of all bodies in simulation world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "" +":py:obj:`body_ang_acc_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Angular acceleration of all bodies in simulation world frame." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_pos `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint positions of all joints." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_vel `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint velocities of all joints." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid ":py:obj:`joint_acc `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_data.ArticulationData.update:1::1 +msgid "Joint acceleration of all joints." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.default_joint_pos:1 +msgid "" +"Default joint positions of all joints. Shape is (num_instances, " +"num_joints)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.default_joint_vel:1 +msgid "" +"Default joint velocities of all joints. Shape is (num_instances, " +"num_joints)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.default_joint_stiffness:1 +msgid "" +"Default joint stiffness of all joints. Shape is (num_instances, " +"num_joints)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.default_joint_damping:1 +msgid "Default joint damping of all joints. Shape is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.default_joint_armature:1 +msgid "" +"Default joint armature of all joints. Shape is (num_instances, " +"num_joints)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.default_joint_friction:1 +msgid "" +"Default joint friction of all joints. Shape is (num_instances, " +"num_joints)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.default_joint_limits:1 +msgid "" +"Default joint limits of all joints. Shape is (num_instances, num_joints, " +"2)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_stiffness:1 +msgid "" +"Default tendon stiffness of all tendons. Shape is (num_instances, " +"num_fixed_tendons)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_damping:1 +msgid "" +"Default tendon damping of all tendons. Shape is (num_instances, " +"num_fixed_tendons)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit_stiffness:1 +msgid "" +"Default tendon limit stiffness of all tendons. Shape is (num_instances, " +"num_fixed_tendons)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_rest_length:1 +msgid "" +"Default tendon rest length of all tendons. Shape is (num_instances, " +"num_fixed_tendons)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_offset:1 +msgid "" +"Default tendon offset of all tendons. Shape is (num_instances, " +"num_fixed_tendons)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.default_fixed_tendon_limit:1 +msgid "" +"Default tendon limits of all tendons. Shape is (num_instances, " +"num_fixed_tendons, 2)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_pos_target:1 +msgid "" +"Joint position targets commanded by the user. Shape is (num_instances, " +"num_joints)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.joint_effort_target:3 +#: omni.isaac.lab.assets.ArticulationData.joint_pos_target:3 +#: omni.isaac.lab.assets.ArticulationData.joint_vel_target:3 +msgid "" +"For an implicit actuator model, the targets are directly set into the " +"simulation. For an explicit actuator model, the targets are used to " +"compute the joint torques (see :attr:`applied_torque`), which are then " +"set into the simulation." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_vel_target:1 +msgid "" +"Joint velocity targets commanded by the user. Shape is (num_instances, " +"num_joints)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.joint_effort_target:1 +msgid "" +"Joint effort targets commanded by the user. Shape is (num_instances, " +"num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.computed_torque:1 +msgid "" +"Joint torques computed from the actuator model (before clipping). Shape " +"is (num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.computed_torque:3 +msgid "" +"This quantity is the raw torque output from the actuator mode, before any" +" clipping is applied. It is exposed for users who want to inspect the " +"computations inside the actuator model. For instance, to penalize the " +"learning agent for a difference between the computed and applied torques." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.applied_torque:6 +#: omni.isaac.lab.assets.ArticulationData.computed_torque:7 +msgid "Note: The torques are zero for implicit actuator models." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.applied_torque:1 +msgid "" +"Joint torques applied from the actuator model (after clipping). Shape is " +"(num_instances, num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.applied_torque:3 +msgid "" +"These torques are set into the simulation, after clipping the " +":attr:`computed_torque` based on the actuator model." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_stiffness:1 +msgid "" +"Joint stiffness provided to simulation. Shape is (num_instances, " +"num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_damping:1 +msgid "" +"Joint damping provided to simulation. Shape is (num_instances, " +"num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_armature:1 +msgid "" +"Joint armature provided to simulation. Shape is (num_instances, " +"num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_friction:1 +msgid "" +"Joint friction provided to simulation. Shape is (num_instances, " +"num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.joint_limits:1 +msgid "" +"Joint limits provided to simulation. Shape is (num_instances, num_joints," +" 2)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.fixed_tendon_stiffness:1 +msgid "" +"Fixed tendon stiffness provided to simulation. Shape is (num_instances, " +"num_fixed_tendons)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.fixed_tendon_damping:1 +msgid "" +"Fixed tendon damping provided to simulation. Shape is (num_instances, " +"num_fixed_tendons)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit_stiffness:1 +msgid "" +"Fixed tendon limit stiffness provided to simulation. Shape is " +"(num_instances, num_fixed_tendons)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.fixed_tendon_rest_length:1 +msgid "" +"Fixed tendon rest length provided to simulation. Shape is (num_instances," +" num_fixed_tendons)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.fixed_tendon_offset:1 +msgid "" +"Fixed tendon offset provided to simulation. Shape is (num_instances, " +"num_fixed_tendons)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.fixed_tendon_limit:1 +msgid "" +"Fixed tendon limits provided to simulation. Shape is (num_instances, " +"num_fixed_tendons, 2)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.soft_joint_pos_limits:1 +msgid "" +"Joint positions limits for all joints. Shape is (num_instances, " +"num_joints, 2)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationData.soft_joint_vel_limits:1 +msgid "" +"Joint velocity limits for all joints. Shape is (num_instances, " +"num_joints)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationData.gear_ratio:1 +msgid "" +"Gear ratio for relating motor torques to applied Joint torques. Shape is " +"(num_instances, num_joints)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.body_state_w:1 +msgid "" +"State of all bodies `[pos, quat, lin_vel, ang_vel]` in simulation world " +"frame. Shape is (num_instances, num_bodies, 13)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.body_acc_w:1 +msgid "Acceleration of all bodies. Shape is (num_instances, num_bodies, 6)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.body_lin_acc_w:1 +msgid "" +"Linear acceleration of all bodies in simulation world frame. Shape is " +"(num_instances, num_bodies, 3)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.body_ang_acc_w:1 +msgid "" +"Angular acceleration of all bodies in simulation world frame. Shape is " +"(num_instances, num_bodies, 3)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.joint_pos:1 +msgid "Joint positions of all joints. Shape is (num_instances, num_joints)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.joint_vel:1 +msgid "Joint velocities of all joints. Shape is (num_instances, num_joints)." +msgstr "" + +#: of omni.isaac.lab.assets.ArticulationData.joint_acc:1 +msgid "Joint acceleration of all joints. Shape is (num_instances, num_joints)." +msgstr "" + +#: of omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg:1::1 +msgid "" +":py:obj:`InitialStateCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1 +#: omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg:1::1 +msgid "Initial state of the articulation." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1::1 +msgid ":py:obj:`init_state `\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1::1 +msgid "Initial state of the articulated object." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1::1 +msgid "" +":py:obj:`soft_joint_pos_limit_factor " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1::1 +msgid "" +"Fraction specifying the range of DOF position limits (parsed from the " +"asset) to use." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1::1 +msgid ":py:obj:`actuators `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.actuators:1 +#: omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1::1 +msgid "Actuators for the robot with corresponding joint names." +msgstr "" + +#: of +#: omni.isaac.lab.assets.articulation.articulation_cfg.ArticulationCfg.InitialStateCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.assets.rigid_object.rigid_object_cfg.RigidObjectCfg.InitialStateCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos:1::1 +msgid "" +":py:obj:`joint_pos " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos:1::1 +msgid "Joint positions of the joints." +msgstr "" + +#: of +#: omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos:1::1 +msgid "" +":py:obj:`joint_vel " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos:1::1 +msgid "Joint velocities of the joints." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_pos:1 +msgid "Joint positions of the joints. Defaults to 0.0 for all joints." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationCfg.InitialStateCfg.joint_vel:1 +msgid "Joint velocities of the joints. Defaults to 0.0 for all joints." +msgstr "" + +#: ../../docstring of omni.isaac.lab.assets.ArticulationCfg.init_state:1 +msgid "" +"Initial state of the articulated object. Defaults to identity pose with " +"zero velocity and zero joint state." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.assets.ArticulationCfg.soft_joint_pos_limit_factor:1 +msgid "" +"Fraction specifying the range of DOF position limits (parsed from the " +"asset) to use. Defaults to 1.0." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.controllers.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.controllers.po new file mode 100644 index 0000000000..1bc0c0bfc9 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.controllers.po @@ -0,0 +1,446 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.controllers.rst:2 +msgid "omni.isaac.lab.controllers" +msgstr "" + +#: of omni.isaac.lab.controllers:1 +msgid "Sub-package for different controllers and motion-generators." +msgstr "" + +#: of omni.isaac.lab.controllers:3 +msgid "" +"Controllers or motion generators are responsible for closed-loop tracking" +" of a given command. The controller can be a simple PID controller or a " +"more complex controller such as impedance control or inverse kinematics " +"control. The controller is responsible for generating the desired joint-" +"level commands to be sent to the robot." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.controllers.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.controllers.rst:11::1 +msgid "" +":py:obj:`DifferentialIKController " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.controllers.rst:11::1 of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1 +msgid "Differential inverse kinematics (IK) controller." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.controllers.rst:11::1 +msgid "" +":py:obj:`DifferentialIKControllerCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.controllers.rst:11::1 of +#: omni.isaac.lab.controllers.differential_ik_cfg.DifferentialIKControllerCfg:1 +msgid "Configuration for differential inverse kinematics controller." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.controllers.rst:14 +msgid "Differential Inverse Kinematics" +msgstr "" + +#: of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1 +#: omni.isaac.lab.controllers.differential_ik_cfg.DifferentialIKControllerCfg:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:3 +msgid "" +"This controller is based on the concept of differential inverse " +"kinematics [1, 2] which is a method for computing the change in joint " +"positions that yields the desired change in pose." +msgstr "" + +#: of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:6 +msgid "" +"\\Delta \\mathbf{q} = \\mathbf{J}^{\\dagger} \\Delta \\mathbf{x}\n" +"\\mathbf{q}_{\\text{desired}} = \\mathbf{q}_{\\text{current}} + \\Delta " +"\\mathbf{q}" +msgstr "" + +#: of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:11 +msgid "" +"where :math:`\\mathbf{J}^{\\dagger}` is the pseudo-inverse of the " +"Jacobian matrix :math:`\\mathbf{J}`, :math:`\\Delta \\mathbf{x}` is the " +"desired change in pose, and :math:`\\mathbf{q}_{\\text{current}}` is the " +"current joint positions." +msgstr "" + +#: of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:19 +msgid "" +"To deal with singularity in Jacobian, the following methods are supported" +" for computing inverse of the Jacobian:" +msgstr "" + +#: of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:16 +msgid "\"pinv\": Moore-Penrose pseudo-inverse" +msgstr "" + +#: of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:17 +msgid "\"svd\": Adaptive singular-value decomposition (SVD)" +msgstr "" + +#: of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:18 +msgid "\"trans\": Transpose of matrix" +msgstr "" + +#: of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:19 +msgid "" +"\"dls\": Damped version of Moore-Penrose pseudo-inverse (also called " +"Levenberg-Marquardt)" +msgstr "" + +#: of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:22 +msgid "" +"The controller does not assume anything about the frames of the current " +"and desired end-effector pose, or the joint-space velocities. It is up to" +" the user to ensure that these quantities are given in the correct " +"format." +msgstr "" + +#: of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:28 +msgid "Reference:" +msgstr "" + +#: of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:27 +msgid "" +"[1] https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n" +"-intelligent-systems/rsl-" +"dam/documents/RobotDynamics2017/RD_HS2017script.pdf [2] " +"https://www.cs.cmu.edu/~15464-s13/lectures/lecture6/iksurvey.pdf" +msgstr "" + +#: of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1 +msgid "**Methods:**" +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ " +"\\(cfg\\, num\\_envs\\, device\\)" +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.__init__:1 +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid "Initialize the controller." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid "" +":py:obj:`reset " +"`\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.reset:1 +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid "Reset the internals." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid "" +":py:obj:`set_command " +"`\\ " +"\\(command\\[\\, ee\\_pos\\, ee\\_quat\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:1 +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid "Set target end-effector pose command." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid "" +":py:obj:`compute " +"`\\ " +"\\(ee\\_pos\\, ee\\_quat\\, jacobian\\, joint\\_pos\\)" +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute:1 +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1::1 +msgid "" +"Computes the target joint positions that will yield the desired end " +"effector pose." +msgstr "" + +#: of omni.isaac.lab.controllers.differential_ik.DifferentialIKController:1 +#: omni.isaac.lab.controllers.differential_ik_cfg.DifferentialIKControllerCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.__init__:1::1 +msgid "" +":py:obj:`action_dim " +"`\\" +msgstr "" + +#: of omni.isaac.lab.controllers.DifferentialIKController.action_dim:1 +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.__init__:1::1 +msgid "Dimension of the controller's input command." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.__init__ +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.reset +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command +msgid "Parameters" +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.__init__:3 +msgid "The configuration for the controller." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.__init__:4 +msgid "The number of environments." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.__init__:5 +msgid "The device to use for computations." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.reset:3 +msgid "" +"The environment indices to reset. If None, then all environments are " +"reset." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:3 +msgid "" +"Based on the configured command type and relative mode, the method " +"computes the desired end-effector pose. It is up to the user to ensure " +"that the command is given in the correct frame. The method only applies " +"the relative mode if the command type is ``position_rel`` or " +"``pose_rel``." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:7 +msgid "The input command in shape (N, 3) or (N, 6) or (N, 7)." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:8 +msgid "" +"The current end-effector position in shape (N, 3). This is only needed if" +" the command type is ``position_rel`` or ``pose_rel``." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:10 +msgid "" +"The current end-effector orientation (w, x, y, z) in shape (N, 4). This " +"is only needed if the command type is ``position_*`` or ``pose_rel``." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command +msgid "Raises" +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:13 +msgid "If the command type is ``position_*`` and :attr:`ee_quat` is None." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:14 +msgid "If the command type is ``position_rel`` and :attr:`ee_pos` is None." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.set_command:15 +msgid "" +"If the command type is ``pose_rel`` and either :attr:`ee_pos` or " +":attr:`ee_quat` is None." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute:3 +msgid "The current end-effector position in shape (N, 3)." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute:4 +msgid "The current end-effector orientation in shape (N, 4)." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute:5 +msgid "The geometric jacobian matrix in shape (N, 6, num_joints)." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute:6 +msgid "The current joint positions in shape (N, num_joints)." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute +msgid "Returns" +msgstr "" + +#: of +#: omni.isaac.lab.controllers.differential_ik.DifferentialIKController.compute:8 +msgid "The target joint positions commands in shape (N, num_joints)." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +msgid "" +":py:obj:`command_type " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1 +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +msgid "Type of task-space command to control the articulation's body." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +msgid "" +":py:obj:`use_relative_mode " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +msgid "Whether to use relative mode for the controller." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +msgid "" +":py:obj:`ik_method " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_method:1 +msgid "Method for computing inverse of Jacobian." +msgstr "" + +#: of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +msgid "" +":py:obj:`ik_params " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:1::1 +msgid "Parameters for the inverse-kinematics method." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.command_type:3 +msgid "" +"If \"position\", then the controller only controls the position of the " +"articulation's body. Otherwise, the controller controls the pose of the " +"articulation's body." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.use_relative_mode:1 +msgid "Whether to use relative mode for the controller. Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.use_relative_mode:3 +msgid "" +"If True, then the controller treats the input command as a delta change " +"in the position/pose. Otherwise, the controller treats the input command " +"as the absolute position/pose." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:1 +msgid "" +"Parameters for the inverse-kinematics method. Defaults to None, in which " +"case the default parameters for the method are used." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:4 +msgid "Moore-Penrose pseudo-inverse (\"pinv\"):" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:5 +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:7 +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:10 +msgid "\"k_val\": Scaling of computed delta-joint positions (default: 1.0)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:7 +msgid "Adaptive Singular Value Decomposition (\"svd\"):" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:8 +msgid "" +"\"min_singular_value\": Single values less than this are suppressed to " +"zero (default: 1e-5)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:9 +msgid "Jacobian transpose (\"trans\"):" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:11 +msgid "Damped Moore-Penrose pseudo-inverse (\"dls\"):" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.controllers.DifferentialIKControllerCfg.ik_params:12 +msgid "\"lambda_val\": Damping coefficient (default: 0.01)." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.devices.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.devices.po new file mode 100644 index 0000000000..40cbbaf205 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.devices.po @@ -0,0 +1,899 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:2 +msgid "omni.isaac.lab.devices" +msgstr "" + +#: of omni.isaac.lab.devices:1 +msgid "Sub-package providing interfaces to different teleoperation devices." +msgstr "" + +#: of omni.isaac.lab.devices:3 +msgid "Currently, the following categories of devices are supported:" +msgstr "" + +#: of omni.isaac.lab.devices:5 +msgid "**Keyboard**: Standard keyboard with WASD and arrow keys." +msgstr "" + +#: of omni.isaac.lab.devices:6 +msgid "**Spacemouse**: 3D mouse with 6 degrees of freedom." +msgstr "" + +#: of omni.isaac.lab.devices:7 +msgid "" +"**Gamepad**: Gamepad with 2D two joysticks and buttons. Example: Xbox " +"controller." +msgstr "" + +#: of omni.isaac.lab.devices:9 +msgid "" +"All device interfaces inherit from the :class:`DeviceBase` class, which " +"provides a common interface for all devices. The device interface reads " +"the input data when the :meth:`DeviceBase.advance` method is called. It " +"also provides the function :meth:`DeviceBase.add_callback` to add user-" +"defined callback functions to be called when a particular input is " +"pressed from the peripheral device." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +msgid ":py:obj:`DeviceBase `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 of +#: omni.isaac.lab.devices.device_base.DeviceBase:1 +msgid "An interface class for teleoperation devices." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +msgid ":py:obj:`Se2Gamepad `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 of +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:1 +msgid "A gamepad controller for sending SE(2) commands as velocity commands." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +msgid ":py:obj:`Se3Gamepad `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 of +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:1 +msgid "" +"A gamepad controller for sending SE(3) commands as delta poses and binary" +" command (open/close)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +msgid ":py:obj:`Se2Keyboard `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 of +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:1 +msgid "A keyboard controller for sending SE(2) commands as velocity commands." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +msgid ":py:obj:`Se3Keyboard `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 of +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:1 +msgid "" +"A keyboard controller for sending SE(3) commands as delta poses and " +"binary command (open/close)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 +msgid ":py:obj:`Se3SpaceMouse `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:16::1 of +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:1 +msgid "A space-mouse controller for sending SE(3) commands as delta poses." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:19 +msgid "Device Base" +msgstr "" + +#: of omni.isaac.lab.devices.device_base.DeviceBase:1 +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:1 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:1 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:1 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:1 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:1 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:1 +msgid "**Methods:**" +msgstr "" + +#: of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +msgid ":py:obj:`__init__ `\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1 +#: omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +msgid "Initialize the teleoperation interface." +msgstr "" + +#: of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +#: omni.isaac.lab.devices.device_base.DeviceBase.reset:1 +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.reset:1 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.reset:1 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.reset:1 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.reset:1 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.reset:1 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.reset:1 +msgid "Reset the internals." +msgstr "" + +#: of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +msgid "" +":py:obj:`add_callback `\\" +" \\(key\\, func\\)" +msgstr "" + +#: of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +#: omni.isaac.lab.devices.device_base.DeviceBase.add_callback:1 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.add_callback:1 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.add_callback:1 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.add_callback:1 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.add_callback:1 +msgid "Add additional functions to bind keyboard." +msgstr "" + +#: of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +msgid ":py:obj:`advance `\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.devices.device_base.DeviceBase.__init__:1::1 +#: omni.isaac.lab.devices.device_base.DeviceBase.advance:1 +msgid "Provides the joystick event state." +msgstr "" + +#: of omni.isaac.lab.devices.device_base.DeviceBase.add_callback +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__ +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.add_callback +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__ +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.add_callback +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__ +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.add_callback +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__ +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.add_callback +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__ +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.add_callback +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__ +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.add_callback +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.devices.device_base.DeviceBase.add_callback:3 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.add_callback:3 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.add_callback:3 +msgid "The button to check against." +msgstr "" + +#: of omni.isaac.lab.devices.device_base.DeviceBase.add_callback:4 +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.add_callback:7 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.add_callback:7 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.add_callback:7 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.add_callback:7 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.add_callback:4 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.add_callback:4 +msgid "" +"The function to call when key is pressed. The callback function should " +"not take any arguments." +msgstr "" + +#: of omni.isaac.lab.devices.device_base.DeviceBase.advance +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.advance +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.advance +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.advance +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.advance +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.advance +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.advance +msgid "Returns" +msgstr "" + +#: of omni.isaac.lab.devices.device_base.DeviceBase.advance:3 +msgid "The processed output form the joystick." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:25 +msgid "Game Pad" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:1 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:1 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:1 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:1 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:1 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:1 +msgid "Bases: :py:class:`~omni.isaac.lab.devices.device_base.DeviceBase`" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:3 +msgid "" +"This class is designed to provide a gamepad controller for mobile base " +"(such as quadrupeds). It uses the Omniverse gamepad interface to listen " +"to gamepad events and map them to robot's task-space commands." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:7 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:7 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:6 +msgid "" +"The command comprises of the base linear and angular velocity: " +":math:`(v_x, v_y, \\omega_z)`." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:16 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:16 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:23 +msgid "Key bindings:" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:11 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:11 +msgid "Command" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:11 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:11 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:14 +msgid "Key (+ve axis)" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:11 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:11 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:14 +msgid "Key (-ve axis)" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:13 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:17 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:13 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:17 +msgid "Move along x-axis" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:13 +msgid "left stick up" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:13 +msgid "left stick down" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:14 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:18 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:14 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:18 +msgid "Move along y-axis" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:14 +msgid "left stick right" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:14 +msgid "left stick left" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:15 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:22 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:15 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:22 +msgid "Rotate along z-axis" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:15 +msgid "right stick right" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:15 +msgid "right stick left" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad:20 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:27 +msgid "" +"The official documentation for the gamepad interface: `Carb Gamepad " +"Interface `__." +msgstr "" + +#: of +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(\\[v\\_x\\_sensitivity\\, v\\_y\\_sensitivity\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1 +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +msgid "Initialize the gamepad layer." +msgstr "" + +#: of +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +msgid "" +":py:obj:`add_callback `\\" +" \\(key\\, func\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.add_callback:1 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.add_callback:1 +msgid "Add additional functions to bind gamepad." +msgstr "" + +#: of +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +msgid ":py:obj:`advance `\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:1::1 +#: omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.advance:1 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.advance:1 +msgid "Provides the result from gamepad event state." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:3 +msgid "Magnitude of linear velocity along x-direction scaling. Defaults to 1.0." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:4 +msgid "Magnitude of linear velocity along y-direction scaling. Defaults to 1.0." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:5 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:5 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:5 +msgid "Magnitude of angular velocity along z-direction scaling. Defaults to 1.0." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.__init__:6 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:5 +msgid "" +"Magnitude of dead zone for gamepad. An event value from the gamepad less " +"than this value will be ignored. Defaults to 0.01." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.add_callback:3 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.add_callback:3 +msgid "" +"A list of available gamepad keys are present in the `carb documentation " +"`__." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.add_callback:6 +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.add_callback:6 +msgid "The gamepad button to check against." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se2_gamepad.Se2Gamepad.advance:3 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.advance:3 +msgid "A 3D array containing the linear (x,y) and angular velocity (z)." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:3 +msgid "" +"This class is designed to provide a gamepad controller for a robotic arm " +"with a gripper. It uses the gamepad interface to listen to gamepad events" +" and map them to the robot's task-space commands." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:7 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:7 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:6 +msgid "The command comprises of two parts:" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:9 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:9 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:8 +msgid "" +"delta pose: a 6D vector of (x, y, z, roll, pitch, yaw) in meters and " +"radians." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:10 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:10 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:9 +msgid "gripper: a binary command to open or close the gripper." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:23 +msgid "Stick and Button bindings:" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:14 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:14 +msgid "Description" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:14 +msgid "Stick/Button (+ve axis)" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:14 +msgid "Stick/Button (-ve axis)" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:16 +msgid "Toggle gripper(open/close)" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:16 +msgid "X Button" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:17 +msgid "Left Stick Up" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:17 +msgid "Left Stick Down" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:18 +msgid "Left Stick Left" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:18 +msgid "Left Stick Right" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:19 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:19 +msgid "Move along z-axis" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:19 +msgid "Right Stick Up" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:19 +msgid "Right Stick Down" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:20 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:20 +msgid "Rotate along x-axis" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:20 +msgid "D-Pad Left" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:20 +msgid "D-Pad Right" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:21 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:21 +msgid "Rotate along y-axis" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:21 +msgid "D-Pad Down" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:21 +msgid "D-Pad Up" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:22 +msgid "Right Stick Left" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad:22 +msgid "Right Stick Right" +msgstr "" + +#: of +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(\\[pos\\_sensitivity\\, rot\\_sensitivity\\, ...\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +msgid "" +":py:obj:`add_callback `\\" +" \\(key\\, func\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:1::1 +msgid ":py:obj:`advance `\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:3 +msgid "Magnitude of input position command scaling. Defaults to 1.0." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.__init__:4 +msgid "Magnitude of scale input rotation commands scaling. Defaults to 1.6." +msgstr "" + +#: of omni.isaac.lab.devices.gamepad.se3_gamepad.Se3Gamepad.advance:3 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.advance:3 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.advance:3 +msgid "A tuple containing the delta pose command and gripper commands." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:38 +msgid "Keyboard" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:3 +msgid "" +"This class is designed to provide a keyboard controller for mobile base " +"(such as quadrupeds). It uses the Omniverse keyboard interface to listen " +"to keyboard events and map them to robot's task-space commands." +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:13 +msgid "Numpad 8 / Arrow Up" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:13 +msgid "Numpad 2 / Arrow Down" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:14 +msgid "Numpad 4 / Arrow Right" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:14 +msgid "Numpad 6 / Arrow Left" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:15 +msgid "Numpad 7 / X" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:15 +msgid "Numpad 9 / Y" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard:20 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:27 +msgid "" +"The official documentation for the keyboard interface: `Carb Keyboard " +"Interface `__." +msgstr "" + +#: of +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(\\[v\\_x\\_sensitivity\\, v\\_y\\_sensitivity\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +msgid "Initialize the keyboard layer." +msgstr "" + +#: of +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +msgid "" +":py:obj:`add_callback " +"`\\ \\(key\\, func\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +msgid ":py:obj:`advance `\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:1::1 +#: omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.advance:1 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.advance:1 +msgid "Provides the result from keyboard event state." +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:3 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:3 +msgid "Magnitude of linear velocity along x-direction scaling. Defaults to 0.8." +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.__init__:4 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:4 +msgid "Magnitude of linear velocity along y-direction scaling. Defaults to 0.4." +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.add_callback:3 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.add_callback:3 +msgid "" +"A list of available keys are present in the `carb documentation " +"`__." +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.add_callback:6 +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.add_callback:6 +msgid "The keyboard button to check against." +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se2_keyboard.Se2Keyboard.advance:3 +msgid "3D array containing the linear (x,y) and angular velocity (z)." +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:3 +msgid "" +"This class is designed to provide a keyboard controller for a robotic arm" +" with a gripper. It uses the Omniverse keyboard interface to listen to " +"keyboard events and map them to robot's task-space commands." +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:16 +msgid "Toggle gripper (open/close)" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:16 +msgid "K" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:17 +msgid "W" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:17 +msgid "S" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:18 +msgid "A" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:18 +msgid "D" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:19 +msgid "Q" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:19 +msgid "E" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:20 +msgid "Z" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:20 +msgid "X" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:21 +msgid "T" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:21 +msgid "G" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:22 +msgid "C" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard:22 +msgid "V" +msgstr "" + +#: of +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(\\[pos\\_sensitivity\\, rot\\_sensitivity\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +msgid "" +":py:obj:`add_callback " +"`\\ \\(key\\, func\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:1::1 +msgid ":py:obj:`advance `\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:3 +msgid "Magnitude of input position command scaling. Defaults to 0.05." +msgstr "" + +#: of omni.isaac.lab.devices.keyboard.se3_keyboard.Se3Keyboard.__init__:4 +msgid "Magnitude of scale input rotation commands scaling. Defaults to 0.5." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.devices.rst:51 +msgid "Space Mouse" +msgstr "" + +#: of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:1 +msgid "A space-mouse controller for sending SE(2) commands as delta poses." +msgstr "" + +#: of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:3 +msgid "" +"This class implements a space-mouse controller to provide commands to " +"mobile base. It uses the `HID-API`_ which interfaces with USD and " +"Bluetooth HID-class devices across multiple platforms." +msgstr "" + +#: of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:8 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:11 +msgid "" +"The interface finds and uses the first supported device connected to the " +"computer." +msgstr "" + +#: of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:10 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:13 +msgid "Currently tested for following devices:" +msgstr "" + +#: of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse:12 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:15 +msgid "SpaceMouse Compact: https://3dconnexion.com/de/product/spacemouse-compact/" +msgstr "" + +#: of +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(\\[v\\_x\\_sensitivity\\, v\\_y\\_sensitivity\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +msgid "Initialize the spacemouse layer." +msgstr "" + +#: of +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +msgid "" +":py:obj:`add_callback " +"`\\ \\(key\\, func\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +msgid ":py:obj:`advance `\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.__init__:1::1 +#: omni.isaac.lab.devices.spacemouse.se2_spacemouse.Se2SpaceMouse.advance:1 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.advance:1 +msgid "Provides the result from spacemouse event state." +msgstr "" + +#: of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse:3 +msgid "" +"This class implements a space-mouse controller to provide commands to a " +"robotic arm with a gripper. It uses the `HID-API`_ which interfaces with " +"USD and Bluetooth HID-class devices across multiple platforms [1]." +msgstr "" + +#: of +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(\\[pos\\_sensitivity\\, rot\\_sensitivity\\]\\)" +msgstr "" + +#: of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1 +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +msgid "Initialize the space-mouse layer." +msgstr "" + +#: of +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +msgid ":py:obj:`reset `\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +msgid "" +":py:obj:`add_callback " +"`\\ \\(key\\, func\\)" +msgstr "" + +#: of +#: omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:1::1 +msgid ":py:obj:`advance `\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:3 +msgid "Magnitude of input position command scaling. Defaults to 0.4." +msgstr "" + +#: of omni.isaac.lab.devices.spacemouse.se3_spacemouse.Se3SpaceMouse.__init__:4 +msgid "Magnitude of scale input rotation commands scaling. Defaults to 0.8." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.envs.mdp.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.envs.mdp.po new file mode 100644 index 0000000000..98dcd6eed3 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.envs.mdp.po @@ -0,0 +1,2813 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:2 +msgid "omni.isaac.lab.envs.mdp" +msgstr "" + +#: of omni.isaac.lab.envs.mdp:1 +msgid "Sub-module with implementation of manager terms." +msgstr "" + +#: of omni.isaac.lab.envs.mdp:3 +msgid "" +"The functions can be provided to different managers that are responsible " +"for the different aspects of the MDP. These include the observation, " +"reward, termination, actions, events and curriculum managers." +msgstr "" + +#: of omni.isaac.lab.envs.mdp:7 +msgid "" +"The terms are defined under the ``envs`` module because they are used to " +"define the environment. However, they are not part of the environment " +"directly, but are used to define the environment through their managers." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:7 +msgid "Observations" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations:1 +msgid "Common functions that can be used to create observation terms." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations:3 +msgid "" +"The functions can be passed to the " +":class:`omni.isaac.lab.managers.ObservationTermCfg` object to enable the " +"observation introduced by the function." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.curriculums:1 omni.isaac.lab.envs.mdp.events:1 +#: omni.isaac.lab.envs.mdp.observations:1 omni.isaac.lab.envs.mdp.rewards:1 +#: omni.isaac.lab.envs.mdp.terminations:1 +msgid "**Functions:**" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`base_pos_z `\\ " +"\\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1 +#: omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "Root height in the simulation world frame." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`base_lin_vel " +"`\\ \\(env\\[\\, " +"asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_lin_vel:1 +#: omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "Root linear velocity in the asset's root frame." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`base_ang_vel " +"`\\ \\(env\\[\\, " +"asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_ang_vel:1 +#: omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "Root angular velocity in the asset's root frame." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`projected_gravity " +"`\\ \\(env\\[\\, " +"asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: omni.isaac.lab.envs.mdp.observations.projected_gravity:1 +msgid "Gravity projection on the asset's root frame." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`root_pos_w `\\ " +"\\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: omni.isaac.lab.envs.mdp.observations.root_pos_w:1 +msgid "Asset root position in the environment frame." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`root_quat_w " +"`\\ \\(env\\[\\, " +"make\\_quat\\_unique\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: omni.isaac.lab.envs.mdp.observations.root_quat_w:1 +msgid "Asset root orientation (w, x, y, z) in the environment frame." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`root_lin_vel_w " +"`\\ \\(env\\[\\, " +"asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: omni.isaac.lab.envs.mdp.observations.root_lin_vel_w:1 +msgid "Asset root linear velocity in the environment frame." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`root_ang_vel_w " +"`\\ \\(env\\[\\, " +"asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: omni.isaac.lab.envs.mdp.observations.root_ang_vel_w:1 +msgid "Asset root angular velocity in the environment frame." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`joint_pos `\\ " +"\\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: omni.isaac.lab.envs.mdp.observations.joint_pos:1 +msgid "The joint positions of the asset." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`joint_pos_rel " +"`\\ \\(env\\[\\, " +"asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "The joint positions of the asset w.r.t." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`joint_pos_limit_normalized " +"`\\ " +"\\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: omni.isaac.lab.envs.mdp.observations.joint_pos_limit_normalized:1 +msgid "The joint positions of the asset normalized with the asset's joint limits." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`joint_vel `\\ " +"\\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: omni.isaac.lab.envs.mdp.observations.joint_vel:1 +msgid "The joint velocities of the asset." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`joint_vel_rel " +"`\\ \\(env\\[\\, " +"asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "The joint velocities of the asset w.r.t." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`height_scan " +"`\\ \\(env\\, " +"sensor\\_cfg\\[\\, offset\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "Height scan from the given sensor w.r.t." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`body_incoming_wrench " +"`\\ \\(env\\, " +"asset\\_cfg\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: omni.isaac.lab.envs.mdp.observations.body_incoming_wrench:1 +msgid "" +"Incoming spatial wrench on bodies of an articulation in the simulation " +"world frame." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`last_action " +"`\\ \\(env\\[\\, " +"action\\_name\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: omni.isaac.lab.envs.mdp.observations.last_action:1 +msgid "The last input action to the environment." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +msgid "" +":py:obj:`generated_commands " +"`\\ \\(env\\, " +"command\\_name\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.base_pos_z:1::1 +#: omni.isaac.lab.envs.mdp.observations.generated_commands:1 +msgid "" +"The generated command from command term in the command manager with the " +"given name." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.root_quat_w:3 +msgid "" +"If :attr:`make_quat_unique` is True, then returned quaternion is made " +"unique by ensuring the quaternion has non-negative real component. This " +"is because both ``q`` and ``-q`` represent the same orientation." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.joint_pos:3 +#: omni.isaac.lab.envs.mdp.observations.joint_pos_rel:3 +msgid "" +"Note: Only the joints configured in :attr:`asset_cfg.joint_ids` will have" +" their positions returned." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.joint_pos_rel:1 +msgid "The joint positions of the asset w.r.t. the default joint positions." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.joint_pos_limit_normalized:3 +msgid "" +"Note: Only the joints configured in :attr:`asset_cfg.joint_ids` will have" +" their normalized positions returned." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.joint_vel:3 +#: omni.isaac.lab.envs.mdp.observations.joint_vel_rel:3 +msgid "" +"Note: Only the joints configured in :attr:`asset_cfg.joint_ids` will have" +" their velocities returned." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.joint_vel_rel:1 +msgid "The joint velocities of the asset w.r.t. the default joint velocities." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.height_scan:1 +msgid "Height scan from the given sensor w.r.t. the sensor's frame." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.height_scan:3 +msgid "" +"The provided offset (Defaults to 0.5) is subtracted from the returned " +"values." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.body_incoming_wrench:3 +msgid "" +"This is the 6-D wrench (force and torque) applied to the body link by the" +" incoming joint force." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.observations.last_action:3 +msgid "" +"The name of the action term for which the action is required. If None, " +"the entire action tensor is returned." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:13 +msgid "Actions" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.actions:1 +msgid "Various action terms that can be used in the environment." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.actions.actions_cfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1 +#: omni.isaac.lab.envs.mdp.rewards:1 +msgid "**Classes:**" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "" +":py:obj:`JointActionCfg " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "Configuration for the base joint action term." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "" +":py:obj:`JointPositionActionCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg:1 +msgid "Configuration for the joint position action term." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "" +":py:obj:`RelativeJointPositionActionCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg:1 +msgid "Configuration for the relative joint position action term." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "" +":py:obj:`JointVelocityActionCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg:1 +msgid "Configuration for the joint velocity action term." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "" +":py:obj:`JointEffortActionCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg:1 +msgid "Configuration for the joint effort action term." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "" +":py:obj:`JointPositionToLimitsActionCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg:1 +msgid "Configuration for the bounded joint position action term." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "" +":py:obj:`EMAJointPositionToLimitsActionCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "" +"Configuration for the exponential moving average (EMA) joint position " +"action term." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "" +":py:obj:`BinaryJointActionCfg " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "Configuration for the base binary joint action term." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "" +":py:obj:`BinaryJointPositionActionCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "Configuration for the binary joint position action term." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "" +":py:obj:`BinaryJointVelocityActionCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "Configuration for the binary joint velocity action term." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "" +":py:obj:`NonHolonomicActionCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg:1 +msgid "" +"Configuration for the non-holonomic action term with dummy joints at the " +"base." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "" +":py:obj:`DifferentialInverseKinematicsActionCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1::1 +msgid "Configuration for inverse differential kinematics action term." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.managers.manager_term_cfg.ActionTermCfg`" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:3 +msgid "See :class:`JointAction` for more details." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names:1::1 +msgid "" +":py:obj:`joint_names " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.joint_names:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.joint_names:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.joint_names:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.joint_names:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.joint_names:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.joint_names:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.joint_names:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.joint_names:1 +msgid "" +"List of joint names or regex expressions that the action will be mapped " +"to." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names:1::1 +msgid "" +":py:obj:`scale " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names:1::1 +msgid "Scale factor for the action (float or dict of regex expressions)." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names:1::1 +msgid "" +":py:obj:`offset " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.joint_names:1::1 +msgid "Offset factor for the action (float or dict of regex expressions)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.scale:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.scale:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.scale:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.scale:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.scale:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.scale:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.scale:1 +msgid "" +"Scale factor for the action (float or dict of regex expressions). " +"Defaults to 1.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.offset:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.offset:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.offset:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.offset:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.offset:1 +msgid "" +"Offset factor for the action (float or dict of regex expressions). " +"Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.asset_name:1 +msgid "The name of the scene entity." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.asset_name:3 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.asset_name:3 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.asset_name:3 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:3 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.asset_name:3 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.asset_name:3 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.asset_name:3 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.asset_name:3 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.asset_name:3 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.asset_name:3 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.asset_name:3 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.asset_name:3 +msgid "" +"This is the name defined in the scene configuration file. See the " +":class:`InteractiveSceneCfg` class for more details." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.debug_vis:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.debug_vis:1 +msgid "Whether to visualize debug information. Defaults to False." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.envs.mdp.actions.actions_cfg.JointActionCfg`" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg:3 +msgid "See :class:`JointPositionAction` for more details." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset:1::1 +msgid "" +":py:obj:`use_default_offset " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset:1::1 +msgid "" +"Whether to use default joint positions configured in the articulation " +"asset as offset." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset:1 +msgid "" +"Whether to use default joint positions configured in the articulation " +"asset as offset. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionActionCfg.use_default_offset:4 +msgid "" +"If True, this flag results in overwriting the values of :attr:`offset` to" +" the default joint positions from the articulation asset." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg:3 +msgid "See :class:`RelativeJointPositionAction` for more details." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset:1::1 +msgid "" +":py:obj:`use_zero_offset " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset:1::1 +msgid "Whether to ignore the offset defined in articulation asset." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset:1 +msgid "" +"Whether to ignore the offset defined in articulation asset. Defaults to " +"True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.RelativeJointPositionActionCfg.use_zero_offset:3 +msgid "" +"If True, this flag results in overwriting the values of :attr:`offset` to" +" zero." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg:3 +msgid "See :class:`JointVelocityAction` for more details." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset:1::1 +msgid "" +":py:obj:`use_default_offset " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset:1::1 +msgid "" +"Whether to use default joint velocities configured in the articulation " +"asset as offset." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset:1 +msgid "" +"Whether to use default joint velocities configured in the articulation " +"asset as offset. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointVelocityActionCfg.use_default_offset:4 +msgid "This overrides the settings from :attr:`offset` if set to True." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.actions.actions_cfg.JointEffortActionCfg:3 +msgid "See :class:`JointEffortAction` for more details." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg:3 +msgid "See :class:`JointPositionWithinLimitsAction` for more details." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names:1::1 +msgid "" +":py:obj:`joint_names " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names:1::1 +msgid "" +":py:obj:`scale " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names:1::1 +msgid "" +":py:obj:`rescale_to_limits " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.joint_names:1::1 +msgid "Whether to rescale the action to the joint limits." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.rescale_to_limits:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.rescale_to_limits:1 +msgid "Whether to rescale the action to the joint limits. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.rescale_to_limits:3 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.rescale_to_limits:3 +msgid "" +"If True, the input actions are rescaled to the joint limits, i.e., the " +"action value in the range [-1, 1] corresponds to the joint lower and " +"upper limits respectively." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.rescale_to_limits:6 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg.rescale_to_limits:6 +msgid "This operation is performed after applying the scale factor." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.envs.mdp.actions.actions_cfg.JointPositionToLimitsActionCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg:3 +msgid "See :class:`EMAJointPositionToLimitsAction` for more details." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha:1::1 +msgid "" +":py:obj:`alpha " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha:1::1 +msgid "The weight for the moving average (float or dict of regex expressions)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha:1 +msgid "" +"The weight for the moving average (float or dict of regex expressions). " +"Defaults to 1.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.EMAJointPositionToLimitsActionCfg.alpha:3 +msgid "" +"If set to 1.0, the processed action is applied directly without any " +"moving average window." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg:3 +msgid "See :class:`BinaryJointAction` for more details." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names:1::1 +msgid "" +":py:obj:`joint_names " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names:1::1 +msgid "" +":py:obj:`open_command_expr " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.open_command_expr:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.open_command_expr:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.open_command_expr:1 +msgid "The joint command to move to *open* configuration." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names:1::1 +msgid "" +":py:obj:`close_command_expr " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.close_command_expr:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg.joint_names:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg.close_command_expr:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg.close_command_expr:1 +msgid "The joint command to move to *close* configuration." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointActionCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointPositionActionCfg:3 +msgid "See :class:`BinaryJointPositionAction` for more details." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.BinaryJointVelocityActionCfg:3 +msgid "See :class:`BinaryJointVelocityAction` for more details." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg:3 +msgid "See :class:`NonHolonomicAction` for more details." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid "" +":py:obj:`body_name " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid "Name of the body which has the dummy mechanism connected to." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid "" +":py:obj:`x_joint_name " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.x_joint_name:1 +msgid "The dummy joint name in the x direction." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid "" +":py:obj:`y_joint_name " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.y_joint_name:1 +msgid "The dummy joint name in the y direction." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid "" +":py:obj:`yaw_joint_name " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.yaw_joint_name:1 +msgid "The dummy joint name in the yaw direction." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid "" +":py:obj:`scale " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid "Scale factor for the action." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid "" +":py:obj:`offset " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.body_name:1::1 +msgid "Offset factor for the action." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.scale:1 +msgid "Scale factor for the action. Defaults to (1.0, 1.0)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.NonHolonomicActionCfg.offset:1 +msgid "Offset factor for the action. Defaults to (0.0, 0.0)." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg:3 +msgid "See :class:`DifferentialInverseKinematicsAction` for more details." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg:1::1 +msgid "" +":py:obj:`OffsetCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg:1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg:1::1 +msgid "The offset pose from parent frame to child frame." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +msgid "" +":py:obj:`joint_names " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +msgid "" +":py:obj:`body_name " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_name:1 +msgid "Name of the body or frame for which IK is performed." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +msgid "" +":py:obj:`body_offset " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +msgid "Offset of target frame w.r.t." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +msgid "" +":py:obj:`scale " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +msgid "" +":py:obj:`controller " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.asset_name:1::1 +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.controller:1 +msgid "The configuration for the differential IK controller." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg:3 +msgid "" +"On many robots, end-effector frames are fictitious frames that do not " +"have a corresponding rigid body. In such cases, it is easier to define " +"this transform w.r.t. their parent rigid body. For instance, for the " +"Franka Emika arm, the end-effector is defined at an offset to the the " +"\"panda_hand\" frame." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos:1::1 +msgid "" +":py:obj:`pos " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos:1::1 +msgid "Translation w.r.t." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos:1::1 +msgid "" +":py:obj:`rot " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos:1::1 +msgid "Quaternion rotation ``(w, x, y, z)`` w.r.t." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.pos:1 +msgid "Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.OffsetCfg.rot:1 +msgid "" +"Quaternion rotation ``(w, x, y, z)`` w.r.t. the parent frame. Defaults to" +" (1.0, 0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.body_offset:1 +msgid "" +"Offset of target frame w.r.t. to the body frame. Defaults to None, in " +"which case no offset is applied." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.actions.actions_cfg.DifferentialInverseKinematicsActionCfg.scale:1 +msgid "Scale factor for the action. Defaults to 1.0." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:23 +msgid "Events" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events:1 +msgid "Common functions that can be used to enable different events." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events:3 +msgid "" +"Events include anything related to altering the simulation state. This " +"includes changing the physics materials, applying external forces, and " +"resetting the state of the asset." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events:6 +msgid "" +"The functions can be passed to the " +":class:`omni.isaac.lab.managers.EventTermCfg` object to enable the event " +"introduced by the function." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`randomize_rigid_body_material " +"`\\ " +"\\(env\\, env\\_ids\\, ...\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1 +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "Randomize the physics materials on all geometries of the asset." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`add_body_mass `\\ " +"\\(env\\, env\\_ids\\, ...\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.add_body_mass:1 +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +"Randomize the mass of the bodies by adding a random value sampled from " +"the given range." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`randomize_rigid_body_mass " +"`\\ \\(env\\, " +"env\\_ids\\, ...\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass:1 +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +"Randomize the mass of the bodies by adding, scaling, or setting random " +"values." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`randomize_physics_scene_gravity " +"`\\ " +"\\(env\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity:1 +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "Randomize gravity by adding, scaling, or setting random values." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`randomize_actuator_gains " +"`\\ \\(env\\, " +"env\\_ids\\, asset\\_cfg\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_actuator_gains:1 +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +"Randomize the actuator gains in an articulation by adding, scaling, or " +"setting random values." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`randomize_joint_parameters " +"`\\ \\(env\\, " +"env\\_ids\\, ...\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_joint_parameters:1 +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +"Randomize the joint parameters of an articulation by adding, scaling, or " +"setting random values." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`randomize_fixed_tendon_parameters " +"`\\ " +"\\(env\\, ...\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters:1 +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +"Randomize the fixed tendon parameters of an articulation by adding, " +"scaling, or setting random values." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`apply_external_force_torque " +"`\\ \\(env\\," +" env\\_ids\\, ...\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.apply_external_force_torque:1 +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "Randomize the external forces and torques applied to the bodies." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`push_by_setting_velocity " +"`\\ \\(env\\, " +"env\\_ids\\, ...\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.push_by_setting_velocity:1 +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +"Push the asset by setting the root velocity to a random value within the " +"given ranges." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`reset_root_state_uniform " +"`\\ \\(env\\, " +"env\\_ids\\, ...\\)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +#: omni.isaac.lab.envs.mdp.events.reset_root_state_uniform:1 +msgid "" +"Reset the asset root state to a random position and velocity uniformly " +"within the given ranges." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`reset_root_state_with_random_orientation " +"`\\" +" \\(...\\)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +#: omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:1 +msgid "" +"Reset the asset root position and velocities sampled randomly within the " +"given ranges and the asset root orientation sampled randomly from the " +"SO(3)." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`reset_root_state_from_terrain " +"`\\ " +"\\(env\\, env\\_ids\\, ...\\)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +#: omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:1 +msgid "" +"Reset the asset root state by sampling a random valid pose from the " +"terrain." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`reset_joints_by_scale " +"`\\ \\(env\\, " +"env\\_ids\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +#: omni.isaac.lab.envs.mdp.events.reset_joints_by_scale:1 +msgid "" +"Reset the robot joints by scaling the default position and velocity by " +"the given ranges." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`reset_joints_by_offset " +"`\\ \\(env\\, " +"env\\_ids\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +#: omni.isaac.lab.envs.mdp.events.reset_joints_by_offset:1 +msgid "" +"Reset the robot joints with offsets around the default position and " +"velocity by the given ranges." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +msgid "" +":py:obj:`reset_scene_to_default " +"`\\ \\(env\\, " +"env\\_ids\\)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:1::1 +#: omni.isaac.lab.envs.mdp.events.reset_scene_to_default:1 +msgid "Reset the scene to the default state specified in the scene configuration." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:3 +msgid "" +"This function creates a set of physics materials with random static " +"friction, dynamic friction, and restitution values. The number of " +"materials is specified by ``num_buckets``. The materials are generated by" +" sampling uniform random values from the given ranges." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:7 +msgid "" +"The material properties are then assigned to the geometries of the asset." +" The assignment is done by creating a random integer tensor of shape " +"(num_instances, max_num_shapes) where ``num_instances`` is the number of " +"assets spawned and ``max_num_shapes`` is the maximum number of shapes in " +"the asset (over all bodies). The integer values are used as indices to " +"select the material properties from the material buckets." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:14 +msgid "" +"This function uses CPU tensors to assign the material properties. It is " +"recommended to use this function only during the initialization of the " +"environment. Otherwise, it may lead to a significant performance " +"overhead." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_material:19 +msgid "" +"PhysX only allows 64000 unique physics materials in the scene. If the " +"number of materials exceeds this limit, the simulation will crash." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.add_body_mass:4 +#: omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass:7 +msgid "" +"This function uses CPU tensors to assign the body masses. It is " +"recommended to use this function only during the initialization of the " +"environment." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.add_body_mass:7 +msgid "" +"This function is deprecated. Please use :func:`randomize_rigid_body_mass`" +" with ``operation=\"add\"`` instead." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_rigid_body_mass:3 +msgid "" +"This function allows randomizing the mass of the bodies of the asset. The" +" function samples random values from the given distribution parameters " +"and adds, scales, or sets the values into the physics simulation based on" +" the operation." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity:3 +msgid "" +"This function allows randomizing gravity of the physics scene. The " +"function samples random values from the given distribution parameters and" +" adds, scales, or sets the values into the physics simulation based on " +"the operation." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity:7 +msgid "" +"The distribution parameters are lists of two elements each, representing " +"the lower and upper bounds of the distribution for the x, y, and z " +"components of the gravity vector. The function samples random values for " +"each component independently." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity:12 +msgid "This function applied the same gravity for all the environments." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_physics_scene_gravity:15 +msgid "This function uses CPU tensors to assign gravity." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_actuator_gains:3 +msgid "This function allows randomizing the actuator stiffness and damping gains." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_actuator_gains:5 +msgid "" +"The function samples random values from the given distribution parameters" +" and applies the operation to the joint properties. It then sets the " +"values into the actuator models. If the distribution parameters are not " +"provided for a particular property, the function does not modify the " +"property." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_actuator_gains:10 +msgid "" +"For implicit actuators, this function uses CPU tensors to assign the " +"actuator gains into the simulation. In such cases, it is recommended to " +"use this function only during the initialization of the environment." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_actuator_gains +#: omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain +msgid "Raises" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_actuator_gains:13 +msgid "" +"If the joint indices are in explicit motor mode. This operation is " +"currently not supported for explicit actuator models." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_joint_parameters:3 +msgid "" +"This function allows randomizing the joint parameters of the asset. These" +" correspond to the physics engine joint properties that affect the joint " +"behavior." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_joint_parameters:6 +msgid "" +"The function samples random values from the given distribution parameters" +" and applies the operation to the joint properties. It then sets the " +"values into the physics simulation. If the distribution parameters are " +"not provided for a particular property, the function does not modify the " +"property." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_joint_parameters:11 +msgid "" +"This function uses CPU tensors to assign the joint properties. It is " +"recommended to use this function only during the initialization of the " +"environment." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters:3 +msgid "" +"This function allows randomizing the fixed tendon parameters of the " +"asset. These correspond to the physics engine tendon properties that " +"affect the joint behavior." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.randomize_fixed_tendon_parameters:6 +msgid "" +"The function samples random values from the given distribution parameters" +" and applies the operation to the tendon properties. It then sets the " +"values into the physics simulation. If the distribution parameters are " +"not provided for a particular property, the function does not modify the " +"property." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.apply_external_force_torque:3 +msgid "" +"This function creates a set of random forces and torques sampled from the" +" given ranges. The number of forces and torques is equal to the number of" +" bodies times the number of environments. The forces and torques are " +"applied to the bodies by calling ``asset.set_external_force_and_torque``." +" The forces and torques are only applied when " +"``asset.write_data_to_sim()`` is called in the environment." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.push_by_setting_velocity:3 +msgid "" +"This creates an effect similar to pushing the asset with a random impulse" +" that changes the asset's velocity. It samples the root velocity from the" +" given ranges and sets the velocity into the physics simulation." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.push_by_setting_velocity:6 +msgid "" +"The function takes a dictionary of velocity ranges for each axis and " +"rotation. The keys of the dictionary are ``x``, ``y``, ``z``, ``roll``, " +"``pitch``, and ``yaw``. The values are tuples of the form ``(min, max)``." +" If the dictionary does not contain a key, the velocity is set to zero " +"for that axis." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_root_state_uniform:3 +#: omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:4 +msgid "This function randomizes the root position and velocity of the asset." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_root_state_uniform:5 +#: omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:6 +msgid "" +"It samples the root position from the given ranges and adds them to the " +"default root position, before setting them into the physics simulation." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_root_state_uniform:7 +msgid "" +"It samples the root orientation from the given ranges and sets them into " +"the physics simulation." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_root_state_uniform:8 +#: omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:9 +msgid "" +"It samples the root velocity from the given ranges and sets them into the" +" physics simulation." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_root_state_uniform:10 +msgid "" +"The function takes a dictionary of pose and velocity ranges for each axis" +" and rotation. The keys of the dictionary are ``x``, ``y``, ``z``, " +"``roll``, ``pitch``, and ``yaw``. The values are tuples of the form " +"``(min, max)``. If the dictionary does not contain a key, the position or" +" velocity is set to zero for that axis." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:8 +msgid "" +"It samples the root orientation uniformly from the SO(3) and sets them " +"into the physics simulation." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:7 +#: omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:11 +msgid "" +"The function takes a dictionary of position and velocity ranges for each " +"axis and rotation:" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:13 +msgid "" +":attr:`pose_range` - a dictionary of position ranges for each axis. The " +"keys of the dictionary are ``x``, ``y``, and ``z``. The orientation is " +"sampled uniformly from the SO(3)." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:11 +#: omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:15 +msgid "" +":attr:`velocity_range` - a dictionary of velocity ranges for each axis " +"and rotation. The keys of the dictionary are ``x``, ``y``, ``z``, " +"``roll``, ``pitch``, and ``yaw``." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:14 +#: omni.isaac.lab.envs.mdp.events.reset_root_state_with_random_orientation:18 +msgid "" +"The values are tuples of the form ``(min, max)``. If the dictionary does " +"not contain a particular key, the position is set to zero for that axis." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:3 +msgid "" +"This function samples a random valid pose(based on flat patches) from the" +" terrain and sets the root state of the asset to this position. The " +"function also samples random velocities from the given ranges and sets " +"them into the physics simulation." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:9 +msgid "" +":attr:`pose_range` - a dictionary of pose ranges for each axis. The keys " +"of the dictionary are ``roll``, ``pitch``, and ``yaw``. The position is " +"sampled from the flat patches of the terrain." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:19 +msgid "" +"The function expects the terrain to have valid flat patches under the key" +" \"init_pos\". The flat patches are used to sample the random pose for " +"the robot." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_root_state_from_terrain:22 +msgid "" +"If the terrain does not have valid flat patches under the key " +"\"init_pos\"." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_joints_by_scale:3 +msgid "" +"This function samples random values from the given ranges and scales the " +"default joint positions and velocities by these values. The scaled values" +" are then set into the physics simulation." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.events.reset_joints_by_offset:3 +msgid "" +"This function samples random values from the given ranges and biases the " +"default joint positions and velocities by these values. The biased values" +" are then set into the physics simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:29 +msgid "Commands" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.commands:1 +msgid "Various command terms that can be used in the environment." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid "" +":py:obj:`NullCommandCfg " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid "Configuration for the null command generator." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid "" +":py:obj:`UniformVelocityCommandCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1 +msgid "Configuration for the uniform velocity command generator." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid "" +":py:obj:`NormalVelocityCommandCfg " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid "Configuration for the normal velocity command generator." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid "" +":py:obj:`UniformPoseCommandCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1 +msgid "Configuration for uniform pose command generator." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid "" +":py:obj:`UniformPose2dCommandCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1 +msgid "Configuration for the uniform 2D-pose command generator." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +msgid "" +":py:obj:`TerrainBasedPose2dCommandCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1::1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg:1 +msgid "Configuration for the terrain-based position command generator." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.managers.manager_term_cfg.CommandTermCfg`" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.resampling_time_range:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NullCommandCfg.resampling_time_range:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.resampling_time_range:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.resampling_time_range:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.resampling_time_range:1 +msgid "Time before commands are changed [s]." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid "" +":py:obj:`asset_name " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1::1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid "Name of the asset in the environment for which the commands are generated." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid "" +":py:obj:`heading_command " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid "Whether to use heading command or angular velocity command." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid "" +":py:obj:`heading_control_stiffness " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_control_stiffness:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_control_stiffness:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid "Scale factor to convert the heading error to angular velocity command." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid "" +":py:obj:`rel_standing_envs " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_standing_envs:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_standing_envs:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid "" +"Probability threshold for environments where the robots that are standing" +" still." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid "" +":py:obj:`rel_heading_envs " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.rel_heading_envs:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.rel_heading_envs:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid "" +"Probability threshold for environments where the robots follow the " +"heading-based angular velocity command (the others follow the sampled " +"angular velocity command)." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid "" +":py:obj:`ranges " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command:1::1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg:1::1 +msgid "Distribution ranges for the velocity commands." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name:1::1 +msgid "" +":py:obj:`Ranges " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.Ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.asset_name:1::1 +msgid "Uniform distribution ranges for the velocity commands." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command:3 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg.heading_command:3 +msgid "" +"If True, the angular velocity command is computed from the heading error," +" where the target heading is sampled uniformly from provided range. " +"Otherwise, the angular velocity command is sampled uniformly from " +"provided range." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformVelocityCommandCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg:1::1 +msgid "" +":py:obj:`Ranges " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg:1::1 +msgid "Normal distribution ranges for the velocity commands." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.heading_command:1::1 +msgid "" +":py:obj:`ranges " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:1::1 +msgid "" +":py:obj:`mean_vel " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:1::1 +msgid "Mean velocity for the normal distribution." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:1::1 +msgid "" +":py:obj:`std_vel " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:1::1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.std_vel:1 +msgid "Standard deviation for the normal distribution." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:1::1 +msgid "" +":py:obj:`zero_prob " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:1::1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.zero_prob:1 +msgid "Probability of zero velocity for the normal distribution." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.mean_vel:3 +msgid "The tuple contains the mean linear-x, linear-y, and angular-z velocity." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.std_vel:3 +msgid "" +"The tuple contains the standard deviation linear-x, linear-y, and " +"angular-z velocity." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.NormalVelocityCommandCfg.Ranges.zero_prob:3 +msgid "" +"The tuple contains the probability of zero linear-x, linear-y, and " +"angular-z velocity." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +msgid "" +":py:obj:`asset_name " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +msgid "" +":py:obj:`body_name " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.body_name:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +msgid "Name of the body in the asset for which the commands are generated." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +msgid "" +":py:obj:`make_quat_unique " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +msgid "Whether to make the quaternion unique or not." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +msgid "" +":py:obj:`ranges " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg:1::1 +msgid "Ranges for the commands." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name:1::1 +msgid "" +":py:obj:`Ranges " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.Ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.asset_name:1::1 +msgid "Uniform distribution ranges for the pose commands." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.make_quat_unique:1 +msgid "Whether to make the quaternion unique or not. Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPoseCommandCfg.make_quat_unique:3 +msgid "" +"If True, the quaternion is made unique by ensuring the real part is " +"positive." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1::1 +msgid "" +":py:obj:`asset_name " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1::1 +msgid "" +":py:obj:`simple_heading " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.simple_heading:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.simple_heading:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1::1 +msgid "Whether to use simple heading or not." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1::1 +msgid "" +":py:obj:`ranges " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg:1::1 +msgid "Distribution ranges for the position commands." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range:1::1 +msgid "" +":py:obj:`Ranges " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg:1::1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.resampling_time_range:1::1 +msgid "Uniform distribution ranges for the position commands." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.simple_heading:3 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.simple_heading:3 +msgid "If True, the heading is in the direction of the target position." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x:1::1 +msgid "" +":py:obj:`pos_x " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x:1::1 +msgid "Range for the x position (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x:1::1 +msgid "" +":py:obj:`pos_y " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x:1::1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_y:1 +msgid "Range for the y position (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x:1::1 +msgid "" +":py:obj:`heading " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading:1::1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.heading:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.pos_x:1::1 +msgid "Heading range for the position commands (in rad)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading:3 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg.Ranges.heading:3 +msgid "Used only if :attr:`simple_heading` is False." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.envs.mdp.commands.commands_cfg.UniformPose2dCommandCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg:1::1 +msgid "" +":py:obj:`Ranges " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.resampling_time_range:1::1 +msgid "" +":py:obj:`ranges " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.ranges:1 +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.resampling_time_range:1::1 +msgid "Distribution ranges for the sampled commands." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.commands.commands_cfg.TerrainBasedPose2dCommandCfg.Ranges.heading:1::1 +msgid "" +":py:obj:`heading " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:39 +msgid "Rewards" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1 +msgid "Common functions that can be used to enable reward functions." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:3 +msgid "" +"The functions can be passed to the " +":class:`omni.isaac.lab.managers.RewardTermCfg` object to include the " +"reward introduced by the function." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid ":py:obj:`is_alive `\\ \\(env\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.is_alive:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Reward for being alive." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`is_terminated `\\" +" \\(env\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.is_terminated:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize terminated episodes that don't correspond to episodic timeouts." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`lin_vel_z_l2 `\\ " +"\\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.lin_vel_z_l2:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize z-axis base linear velocity using L2-kernel." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`ang_vel_xy_l2 `\\" +" \\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.ang_vel_xy_l2:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize xy-axis base angular velocity using L2-kernel." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`flat_orientation_l2 " +"`\\ \\(env\\[\\, " +"asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.flat_orientation_l2:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize non-flat base orientation using L2-kernel." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`base_height_l2 " +"`\\ \\(env\\, " +"target\\_height\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.base_height_l2:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize asset height from its target using L2-kernel." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`body_lin_acc_l2 " +"`\\ \\(env\\[\\, " +"asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.body_lin_acc_l2:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize the linear acceleration of bodies using L2-kernel." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`joint_torques_l2 " +"`\\ \\(env\\[\\, " +"asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.joint_torques_l2:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize joint torques applied on the articulation using L2-kernel." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`joint_vel_l1 `\\ " +"\\(env\\, asset\\_cfg\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.joint_vel_l1:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize joint velocities on the articulation using an L1-kernel." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`joint_vel_l2 `\\ " +"\\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.joint_vel_l2:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize joint velocities on the articulation using L1-kernel." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`joint_acc_l2 `\\ " +"\\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.joint_acc_l2:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize joint accelerations on the articulation using L2-kernel." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`joint_deviation_l1 " +"`\\ \\(env\\[\\, " +"asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.joint_deviation_l1:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize joint positions that deviate from the default one." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`joint_pos_limits " +"`\\ \\(env\\[\\, " +"asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.joint_pos_limits:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize joint positions if they cross the soft limits." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`joint_vel_limits " +"`\\ \\(env\\, " +"soft\\_ratio\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.joint_vel_limits:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize joint velocities if they cross the soft limits." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`applied_torque_limits " +"`\\ \\(env\\[\\, " +"asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.applied_torque_limits:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize applied torques if they cross the limits." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`action_rate_l2 " +"`\\ \\(env\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.action_rate_l2:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize the rate of change of the actions using L2-kernel." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`action_l2 `\\ " +"\\(env\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.action_l2:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "Penalize the actions using L2-kernel." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`undesired_contacts " +"`\\ \\(env\\, " +"threshold\\, sensor\\_cfg\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.undesired_contacts:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +"Penalize undesired contacts as the number of violations that are above a " +"threshold." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`contact_forces " +"`\\ \\(env\\, " +"threshold\\, sensor\\_cfg\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.contact_forces:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +"Penalize contact forces as the amount of violations of the net contact " +"force." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`track_lin_vel_xy_exp " +"`\\ \\(env\\, " +"std\\, command\\_name\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.track_lin_vel_xy_exp:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +"Reward tracking of linear velocity commands (xy axes) using exponential " +"kernel." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +":py:obj:`track_ang_vel_z_exp " +"`\\ \\(env\\, std\\," +" command\\_name\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.track_ang_vel_z_exp:1 +#: omni.isaac.lab.envs.mdp.rewards:1::1 +msgid "" +"Reward tracking of angular velocity commands (yaw) using exponential " +"kernel." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.is_alive:1::1 +msgid "" +":py:obj:`is_terminated_term " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.is_alive:1::1 +#: omni.isaac.lab.envs.mdp.rewards.is_terminated_term:1 +msgid "" +"Penalize termination for specific terms that don't correspond to episodic" +" timeouts." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.is_terminated_term:3 +msgid "The parameters are as follows:" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.is_terminated_term:5 +msgid "" +"attr:`term_keys`: The termination terms to penalize. This can be a " +"string, a list of strings or regular expressions. Default is \".*\" which" +" penalizes all terminations." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.is_terminated_term:8 +msgid "" +"The reward is computed as the sum of the termination terms that are not " +"episodic timeouts. This means that the reward is 0 if the episode is " +"terminated due to an episodic timeout. Otherwise, if two termination " +"terms are active, the reward is 2." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.is_terminated_term:1 +msgid "**Methods:**" +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ " +"\\(cfg\\, env\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__:1 +#: omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__:1::1 +msgid "Initialize the manager term." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight +#: omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__ +#: omni.isaac.lab.envs.mdp.rewards.joint_vel_limits +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__:3 +msgid "The configuration object." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.is_terminated_term.__init__:4 +msgid "The environment instance." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.flat_orientation_l2:3 +msgid "" +"This is computed by penalizing the xy-components of the projected gravity" +" vector." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.base_height_l2:3 +msgid "" +"Currently, it assumes a flat terrain, i.e. the target height is in the " +"world frame." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.joint_torques_l2:3 +msgid "" +"NOTE: Only the joints configured in :attr:`asset_cfg.joint_ids` will have" +" their joint torques contribute to the L2 norm." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.joint_vel_l2:3 +msgid "" +"NOTE: Only the joints configured in :attr:`asset_cfg.joint_ids` will have" +" their joint velocities contribute to the L1 norm." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.joint_acc_l2:3 +msgid "" +"NOTE: Only the joints configured in :attr:`asset_cfg.joint_ids` will have" +" their joint accelerations contribute to the L2 norm." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.joint_pos_limits:3 +msgid "" +"This is computed as a sum of the absolute value of the difference between" +" the joint position and the soft limits." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.joint_vel_limits:3 +msgid "" +"This is computed as a sum of the absolute value of the difference between" +" the joint velocity and the soft limits." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.joint_vel_limits:5 +msgid "The ratio of the soft limits to be used." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.applied_torque_limits:3 +msgid "" +"This is computed as a sum of the absolute value of the difference between" +" the applied torques and the limits." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.rewards.applied_torque_limits:6 +msgid "" +"Currently, this only works for explicit actuators since we manually " +"compute the applied torques. For implicit actuators, we currently cannot " +"retrieve the applied torques from the physics engine." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:45 +msgid "Terminations" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations:1 +msgid "Common functions that can be used to activate certain terminations." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations:3 +msgid "" +"The functions can be passed to the " +":class:`omni.isaac.lab.managers.TerminationTermCfg` object to enable the " +"termination introduced by the function." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +":py:obj:`time_out `\\ " +"\\(env\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.time_out:1 +#: omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +"Terminate the episode when the episode length exceeds the maximum episode" +" length." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +":py:obj:`command_resample " +"`\\ \\(env\\, " +"command\\_name\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.command_resample:1 +#: omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +"Terminate the episode based on the total number of times commands have " +"been re-sampled." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +":py:obj:`bad_orientation " +"`\\ \\(env\\, " +"limit\\_angle\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.bad_orientation:1 +#: omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +"Terminate when the asset's orientation is too far from the desired " +"orientation limits." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +":py:obj:`root_height_below_minimum " +"`\\ " +"\\(env\\, minimum\\_height\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.root_height_below_minimum:1 +#: omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "Terminate when the asset's root height is below the minimum height." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +":py:obj:`joint_pos_out_of_limit " +"`\\ " +"\\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_limit:1 +#: omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +"Terminate when the asset's joint positions are outside of the soft joint " +"limits." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +":py:obj:`joint_pos_out_of_manual_limit " +"`\\ " +"\\(env\\, bounds\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_manual_limit:1 +#: omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +"Terminate when the asset's joint positions are outside of the configured " +"bounds." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +":py:obj:`joint_vel_out_of_limit " +"`\\ " +"\\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_limit:1 +#: omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +"Terminate when the asset's joint velocities are outside of the soft joint" +" limits." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +":py:obj:`joint_vel_out_of_manual_limit " +"`\\ " +"\\(env\\, max\\_velocity\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.joint_vel_out_of_manual_limit:1 +#: omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +"Terminate when the asset's joint velocities are outside the provided " +"limits." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +":py:obj:`joint_effort_out_of_limit " +"`\\ " +"\\(env\\[\\, asset\\_cfg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.joint_effort_out_of_limit:1 +#: omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +"Terminate when effort applied on the asset's joints are outside of the " +"soft joint limits." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +":py:obj:`illegal_contact " +"`\\ \\(env\\, " +"threshold\\, sensor\\_cfg\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.illegal_contact:1 +#: omni.isaac.lab.envs.mdp.terminations.time_out:1::1 +msgid "" +"Terminate when the contact force on the sensor exceeds the force " +"threshold." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.command_resample:3 +msgid "" +"This makes the maximum episode length fluid in nature as it depends on " +"how the commands are sampled. It is useful in situations where delayed " +"rewards are used :cite:`rudin2022advanced`." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.bad_orientation:3 +msgid "" +"This is computed by checking the angle between the projected gravity " +"vector and the z-axis." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.root_height_below_minimum:3 +msgid "" +"This is currently only supported for flat terrains, i.e. the minimum " +"height is in the world frame." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.joint_pos_out_of_manual_limit:3 +msgid "" +"This function is similar to :func:`joint_pos_out_of_limit` but allows the" +" user to specify the bounds manually." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.terminations.joint_effort_out_of_limit:3 +msgid "" +"In the actuators, the applied torque are the efforts applied on the " +"joints. These are computed by clipping the computed torques to the joint " +"limits. Hence, we check if the computed torques are equal to the applied " +"torques." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.mdp.rst:51 +msgid "Curriculum" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.curriculums:1 +msgid "" +"Common functions that can be used to create curriculum for the learning " +"environment." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.curriculums:3 +msgid "" +"The functions can be passed to the " +":class:`omni.isaac.lab.managers.CurriculumTermCfg` object to enable the " +"curriculum introduced by the function." +msgstr "" + +#: of +#: omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:1::1 +msgid "" +":py:obj:`modify_reward_weight " +"`\\ \\(env\\, " +"env\\_ids\\, ...\\)" +msgstr "" + +#: of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:1 +#: omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:1::1 +msgid "Curriculum that modifies a reward weight a given number of steps." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:3 +msgid "The learning environment." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:4 +msgid "Not used since all environments are affected." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:5 +msgid "The name of the reward term." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:6 +msgid "The weight of the reward term." +msgstr "" + +#: of omni.isaac.lab.envs.mdp.curriculums.modify_reward_weight:7 +msgid "The number of steps after which the change should be applied." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.envs.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.envs.po new file mode 100644 index 0000000000..92e6b58ad2 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.envs.po @@ -0,0 +1,1691 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:2 +msgid "omni.isaac.lab.envs" +msgstr "" + +#: of omni.isaac.lab.envs:1 +msgid "Sub-package for environment definitions." +msgstr "" + +#: of omni.isaac.lab.envs:3 +msgid "" +"Environments define the interface between the agent and the simulation. " +"In the simplest case, the environment provides the agent with the current" +" observations and executes the actions provided by the agent. However, " +"the environment can also provide additional information such as the " +"current reward, done flag, and information about the current episode." +msgstr "" + +#: of omni.isaac.lab.envs:9 +msgid "There are two types of environment designing workflows:" +msgstr "" + +#: of omni.isaac.lab.envs:11 +msgid "" +"**Manager-based**: The environment is decomposed into individual " +"components (or managers) for different aspects (such as computing " +"observations, applying actions, and applying randomization. The users " +"mainly configure the managers and the environment coordinates the " +"managers and calls their functions." +msgstr "" + +#: of omni.isaac.lab.envs:15 +msgid "" +"**Direct**: The user implements all the necessary functionality directly " +"into a single class directly without the need for additional managers." +msgstr "" + +#: of omni.isaac.lab.envs:18 +msgid "Based on these workflows, there are the following environment classes:" +msgstr "" + +#: of omni.isaac.lab.envs:20 +msgid "" +":class:`ManagerBasedEnv`: The manager-based workflow base environment " +"which only provides the agent with the current observations and executes " +"the actions provided by the agent." +msgstr "" + +#: of omni.isaac.lab.envs:22 +msgid "" +":class:`ManagerBasedRLEnv`: The manager-based workflow RL task " +"environment which besides the functionality of the base environment also " +"provides additional Markov Decision Process (MDP) related information " +"such as the current reward, done flag, and information." +msgstr "" + +#: of omni.isaac.lab.envs:25 +msgid "" +":class:`DirectRLEnv`: The direct workflow RL task environment which " +"provides implementations for implementing scene setup, computing dones, " +"performing resets, and computing reward and observation." +msgstr "" + +#: of omni.isaac.lab.envs:28 +msgid "" +"For more information about the workflow design patterns, see the `Task " +"Design Workflows`_ section." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:7 +msgid "Submodules" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:12::1 +msgid ":py:obj:`mdp `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:12::1 +msgid "Sub-module with implementation of manager terms." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:12::1 +msgid ":py:obj:`ui `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:12::1 +msgid "Sub-module providing UI window implementation for environments." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:14 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +msgid ":py:obj:`ManagerBasedEnv `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 of +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1 +msgid "" +"The base environment encapsulates the simulation scene and the " +"environment managers for the manager-based workflow." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +msgid ":py:obj:`ManagerBasedEnvCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 of +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1 +msgid "Base configuration of the environment." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +msgid ":py:obj:`ManagerBasedRLEnv `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 of +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1 +msgid "" +"The superclass for the manager-based workflow reinforcement learning-" +"based environments." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +msgid "" +":py:obj:`ManagerBasedRLEnvCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 of +#: omni.isaac.lab.envs.manager_based_rl_env_cfg.ManagerBasedRLEnvCfg:1 +msgid "" +"Configuration for a reinforcement learning environment with the manager-" +"based workflow." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +msgid ":py:obj:`DirectRLEnv `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 of +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1 +msgid "The superclass for the direct workflow to design environments." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +msgid ":py:obj:`DirectRLEnvCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 of +#: omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1 +msgid "Configuration for an RL environment defined with the direct workflow." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 +msgid ":py:obj:`ViewerCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:23::1 of +#: omni.isaac.lab.envs.common.ViewerCfg:1 +msgid "Configuration of the scene viewport camera." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:26 +msgid "Manager Based Environment" +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:3 +msgid "" +"While a simulation scene or world comprises of different components such " +"as the robots, objects, and sensors (cameras, lidars, etc.), the " +"environment is a higher level abstraction that provides an interface for " +"interacting with the simulation. The environment is comprised of the " +"following components:" +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:8 +msgid "" +"**Scene**: The scene manager that creates and manages the virtual world " +"in which the robot operates. This includes defining the robot, static and" +" dynamic objects, sensors, etc." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:10 +msgid "" +"**Observation Manager**: The observation manager that generates " +"observations from the current simulation state and the data gathered from" +" the sensors. These observations may include privileged information that " +"is not available to the robot in the real world. Additionally, user-" +"defined terms can be added to process the observations and generate " +"custom observations. For example, using a network to embed high-" +"dimensional observations into a lower-dimensional space." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:15 +msgid "" +"**Action Manager**: The action manager that processes the raw actions " +"sent to the environment and converts them to low-level commands that are " +"sent to the simulation. It can be configured to accept raw actions at " +"different levels of abstraction. For example, in case of a robotic arm, " +"the raw actions can be joint torques, joint positions, or end-effector " +"poses. Similarly for a mobile base, it can be the joint torques, or the " +"desired velocity of the floating base." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:20 +msgid "" +"**Event Manager**: The event manager orchestrates operations triggered " +"based on simulation events. This includes resetting the scene to a " +"default state, applying random pushes to the robot at different intervals" +" of time, or randomizing properties such as mass and friction " +"coefficients. This is useful for training and evaluating the robot in a " +"variety of scenarios." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:25 +msgid "" +"The environment provides a unified interface for interacting with the " +"simulation. However, it does not include task-specific quantities such as" +" the reward function, or the termination conditions. These quantities are" +" often specific to defining Markov Decision Processes (MDPs) while the " +"base environment is agnostic to the MDP definition." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:30 +msgid "" +"The environment steps forward in time at a fixed time-step. The physics " +"simulation is decimated at a lower time-step. This is to ensure that the " +"simulation is stable. These two time-steps can be configured " +"independently using the :attr:`ManagerBasedEnvCfg.decimation` (number of " +"simulation steps per environment step) and the " +":attr:`ManagerBasedEnvCfg.sim.dt` (physics time-step) parameters. Based " +"on these parameters, the environment time-step is computed as the product" +" of the two. The two time-steps can be obtained by querying the " +":attr:`physics_dt` and the :attr:`step_dt` properties respectively." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1 +msgid "**Methods:**" +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.__init__:1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.__init__:1 +msgid "Initialize the environment." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid "" +":py:obj:`load_managers " +"`\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.load_managers:1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.load_managers:1 +msgid "Load the managers for the environment." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[seed\\, options\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset:1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid "Resets all the environments and returns observations." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid ":py:obj:`step `\\ \\(action\\)" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.step:1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid "Execute one time-step of the environment's dynamics." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid "" +":py:obj:`seed `\\ " +"\\(\\[seed\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.seed:1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed:1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid "Set the seed for the environment." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +msgid ":py:obj:`close `\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.close:1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.close:1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1::1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.close:1 +msgid "Cleanup for the environment." +msgstr "" + +#: of omni.isaac.lab.envs.common.ViewerCfg:1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1 +#: omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv:1 +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1 +#: omni.isaac.lab.envs.manager_based_rl_env_cfg.ManagerBasedRLEnvCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.num_envs:1 +#: omni.isaac.lab.envs.ManagerBasedEnv.num_envs:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.num_envs:1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "The number of instances of the environment that are running." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +msgid ":py:obj:`physics_dt `\\" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.physics_dt:1 +#: omni.isaac.lab.envs.ManagerBasedEnv.physics_dt:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.physics_dt:1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "The physics time-step (in s)." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +msgid ":py:obj:`step_dt `\\" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.step_dt:1 +#: omni.isaac.lab.envs.ManagerBasedEnv.step_dt:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.step_dt:1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "The environment stepping time-step (in s)." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.device:1 +#: omni.isaac.lab.envs.ManagerBasedEnv.device:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.device:1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:1::1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "The device on which the environment is running." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.__init__ +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.seed +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.set_debug_vis +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__ +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.step +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.__init__ +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.__init__:3 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:3 +msgid "The configuration object for the environment." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.__init__ +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__ +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render +msgid "Raises" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.__init__:7 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.__init__:5 +msgid "" +"If a simulation context already exists. The environment must always " +"create one since it configures the simulation context and controls " +"the simulation." +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.physics_dt:3 +#: omni.isaac.lab.envs.ManagerBasedEnv.physics_dt:3 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.physics_dt:3 +msgid "This is the lowest time-decimation at which the simulation is happening." +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.step_dt:3 +#: omni.isaac.lab.envs.ManagerBasedEnv.step_dt:3 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.step_dt:3 +msgid "This is the time-step at which the environment steps forward." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.load_managers:3 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.load_managers:3 +msgid "" +"This function is responsible for creating the various managers (action, " +"observation, events, etc.) for the environment. Since the managers " +"require access to physics handles, they can only be created after the " +"simulator is reset (i.e. played for the first time)." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.load_managers:8 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.load_managers:8 +msgid "" +"In case of standalone application (when running simulator from Python), " +"the function is called automatically when the class is initialized." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.load_managers:11 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.load_managers:11 +msgid "" +"However, in case of extension mode, the user must call this function " +"manually after the simulator is reset. This is because the simulator is " +"only reset when the user calls :meth:`SimulationContext.reset_async` and " +"it isn't possible to call async functions in the constructor." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset:3 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:3 +msgid "" +"The seed to use for randomization. Defaults to None, in which case the " +"seed is not set." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset:4 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:4 +msgid "" +"Additional information to specify how the environment is reset. Defaults " +"to None. .. note:: This argument is used for compatibility with " +"Gymnasium environment definition." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset:4 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:4 +msgid "" +"Additional information to specify how the environment is reset. Defaults " +"to None." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset:6 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:6 +msgid "" +"This argument is used for compatibility with Gymnasium environment " +"definition." +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.np_random +#: omni.isaac.lab.envs.DirectRLEnv.unwrapped +#: omni.isaac.lab.envs.ManagerBasedRLEnv.np_random +#: omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.seed +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.set_debug_vis +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.step +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step +msgid "Returns" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.reset:8 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.reset:8 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.step:11 +msgid "A tuple containing the observations and extras." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.step:3 +msgid "" +"The environment steps forward at a fixed time-step, while the physics " +"simulation is decimated at a lower time-step. This is to ensure that the " +"simulation is stable. These two time-steps can be configured " +"independently using the :attr:`ManagerBasedEnvCfg.decimation` (number of " +"simulation steps per environment step) and the " +":attr:`ManagerBasedEnvCfg.sim.dt` (physics time-step). Based on these " +"parameters, the environment time-step is computed as the product of the " +"two." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:18 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.step:9 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:13 +msgid "The actions to apply on the environment. Shape is (num_envs, action_dim)." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.seed:3 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed:3 +msgid "The seed for random generator. Defaults to -1." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.seed:5 +#: omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv.seed:5 +msgid "The seed used for random generator." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid ":py:obj:`viewer `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid "Viewer configuration." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid ":py:obj:`sim `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid "Physics simulation configuration." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid ":py:obj:`decimation `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.decimation:1 +#: omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.decimation:1 +#: omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid "Number of control action updates @ sim dt per policy dt." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid ":py:obj:`scene `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.scene:1 +#: omni.isaac.lab.envs.ManagerBasedEnvCfg.scene:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.scene:1 +#: omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid "Scene settings." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid "" +":py:obj:`observations " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.observations:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.observations:1 +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid "Observation space settings." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid ":py:obj:`actions `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.actions:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.actions:1 +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid "Action space settings." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid ":py:obj:`events `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid "Event settings." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid "" +":py:obj:`randomization " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1::1 +msgid "Randomization settings." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1 +#: omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg:1 +#: omni.isaac.lab.envs.manager_based_rl_env_cfg.ManagerBasedRLEnvCfg:1 +msgid "**Classes:**" +msgstr "" + +#: of omni.isaac.lab.envs.ManagerBasedEnvCfg.viewer:1::1 +msgid "" +":py:obj:`ui_window_class_type " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnvCfg.viewer:1::1 +#: omni.isaac.lab.envs.ManagerBasedEnvCfg.viewer:1::1 +msgid "alias of :py:class:`~omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow`" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.viewer:1 +#: omni.isaac.lab.envs.ManagerBasedEnvCfg.viewer:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.viewer:1 +msgid "Viewer configuration. Default is ViewerCfg()." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.sim:1 +#: omni.isaac.lab.envs.ManagerBasedEnvCfg.sim:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.sim:1 +msgid "Physics simulation configuration. Default is SimulationCfg()." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.decimation:3 +#: omni.isaac.lab.envs.ManagerBasedEnvCfg.decimation:3 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.decimation:3 +msgid "" +"For instance, if the simulation dt is 0.01s and the policy dt is 0.1s, " +"then the decimation is 10. This means that the control action is updated " +"every 10 simulation steps." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.scene:3 +#: omni.isaac.lab.envs.ManagerBasedEnvCfg.scene:3 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.scene:3 +msgid "" +"Please refer to the :class:`omni.isaac.lab.scene.InteractiveSceneCfg` " +"class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.observations:3 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.observations:3 +msgid "" +"Please refer to the :class:`omni.isaac.lab.managers.ObservationManager` " +"class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.actions:3 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.actions:3 +msgid "" +"Please refer to the :class:`omni.isaac.lab.managers.ActionManager` class " +"for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.events:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.events:1 +msgid "" +"Event settings. Defaults to the basic configuration that resets the scene" +" to its default state." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.events:3 +#: omni.isaac.lab.envs.ManagerBasedEnvCfg.events:3 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.events:3 +msgid "" +"Please refer to the :class:`omni.isaac.lab.managers.EventManager` class " +"for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.randomization:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.randomization:1 +msgid "Randomization settings. Default is None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedEnvCfg.randomization:3 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.randomization:3 +msgid "" +"This attribute is deprecated and will be removed in v0.4.0. Please use " +"the :attr:`events` attribute to configure the randomization settings." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:36 +msgid "Manager Based RL Environment" +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.envs.manager_based_env.ManagerBasedEnv`, " +":py:class:`~gymnasium.core.Env`" +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:3 +msgid "" +"This class inherits from :class:`ManagerBasedEnv` and implements the core" +" functionality for reinforcement learning-based environments. It is " +"designed to be used with any RL library. The class is designed to be used" +" with vectorized environments, i.e., the environment is expected to be " +"run in parallel with multiple sub-environments. The number of sub-" +"environments is specified using the ``num_envs``." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:9 +msgid "" +"Each observation from the environment is a batch of observations for each" +" sub- environments. The method :meth:`step` is also expected to receive a" +" batch of actions for each sub-environment." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:8 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:13 +msgid "" +"While the environment itself is implemented as a vectorized environment, " +"we do not inherit from :class:`gym.vector.VectorEnv`. This is mainly " +"because the class adds various methods (for wait and asynchronous " +"updates) which are not required. Additionally, each RL library typically " +"has its own definition for a vectorized environment. Thus, to reduce " +"complexity, we directly use the :class:`gym.Env` over here and leave it " +"up to library-defined wrappers to take care of wrapping this environment " +"for their agents." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:18 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:23 +msgid "" +"For vectorized environments, it is recommended to **only** call the " +":meth:`reset` method once before the first call to :meth:`step`, i.e. " +"after the environment is created. After that, the :meth:`step` function " +"handles the reset of terminated sub-environments. This is because the " +"simulator does not support resetting individual sub-environments in a " +"vectorized environment." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "" +":py:obj:`is_vector_env " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "Whether the environment is a vectorized environment." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`metadata `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnv.metadata:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.metadata:1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "Metadata for the environment." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnv.cfg:1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "Configuration for the environment." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "" +":py:obj:`max_episode_length_s " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.max_episode_length_s:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length_s:1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "Maximum episode length in seconds." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "" +":py:obj:`max_episode_length " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.ManagerBasedRLEnv.max_episode_length:1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "Maximum episode length in environment steps." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`np_random `\\" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.np_random:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.np_random:1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "" +"Returns the environment's internal :attr:`_np_random` that if not set " +"will initialise with a random seed." +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`physics_dt `\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`step_dt `\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid ":py:obj:`unwrapped `\\" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.unwrapped:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped:1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv:1::1 +msgid "Returns the base non-wrapped environment." +msgstr "" + +#: of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\[\\, render\\_mode\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid "" +":py:obj:`load_managers " +"`\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid ":py:obj:`step `\\ \\(action\\)" +msgstr "" + +#: of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:1 +msgid "" +"Execute one time-step of the environment's dynamics and reset terminated " +"environments." +msgstr "" + +#: of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid "" +":py:obj:`render `\\ " +"\\(\\[recompute\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:1 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:1 +msgid "Run rendering without stepping through the physics." +msgstr "" + +#: of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid ":py:obj:`close `\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid "" +":py:obj:`get_wrapper_attr " +"`\\ \\(name\\)" +msgstr "" + +#: gymnasium.core.Env.get_wrapper_attr:1 of +#: omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid "Gets the attribute `name` from the environment." +msgstr "" + +#: of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[seed\\, options\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.ManagerBasedRLEnv.is_vector_env:1::1 +msgid "" +":py:obj:`seed `\\ " +"\\(\\[seed\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.__init__:3 +msgid "The configuration for the environment." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.__init__:4 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.__init__:4 +msgid "" +"The render mode for the environment. Defaults to None, which is similar " +"to ``\"human\"``." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:3 +msgid "" +"Unlike the :class:`ManagerBasedEnv.step` class, the function performs the" +" following operations:" +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:5 +msgid "Process the actions." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:6 +msgid "Perform physics stepping." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:7 +msgid "Perform rendering if gui is enabled." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:8 +msgid "Update the environment counters and compute the rewards and terminations." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:9 +msgid "Reset the environments that terminated." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:10 +msgid "Compute the observations." +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:11 +msgid "Return the observations, rewards, resets and extras." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:20 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.step:15 +msgid "" +"A tuple containing the observations, rewards, resets (terminated and " +"truncated) and extras." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:3 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:3 +msgid "By convention, if mode is:" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:5 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:5 +msgid "" +"**human**: Render to the current display and return nothing. Usually for " +"human consumption." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:6 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:6 +msgid "" +"**rgb_array**: Return an numpy.ndarray with shape (x, y, 3), representing" +" RGB values for an x-by-y pixel image, suitable for turning into a video." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:9 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:9 +msgid "" +"Whether to force a render even if the simulator has already rendered the " +"scene. Defaults to False." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:12 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:12 +msgid "" +"The rendered image as a numpy array if mode is \"rgb_array\". Otherwise, " +"returns None." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:14 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:14 +msgid "" +"If mode is set to \"rgb_data\" and simulation render mode does not " +"support it. In this case, the simulation render mode must be set to " +"``RenderMode.PARTIAL_RENDERING`` or ``RenderMode.FULL_RENDERING``." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.render:15 +#: omni.isaac.lab.envs.manager_based_rl_env.ManagerBasedRLEnv.render:15 +msgid "If an unsupported rendering mode is specified." +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.np_random:3 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.np_random:3 +msgid "Instances of `np.random.Generator`" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.unwrapped:3 +#: omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped:3 +msgid "The base non-wrapped :class:`gymnasium.Env` instance" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.unwrapped +#: omni.isaac.lab.envs.ManagerBasedRLEnv.unwrapped +msgid "Return type" +msgstr "" + +#: of omni.isaac.lab.envs.manager_based_rl_env_cfg.ManagerBasedRLEnvCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.envs.manager_based_env_cfg.ManagerBasedEnvCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_rl_env_cfg.ManagerBasedRLEnvCfg:1::1 +msgid "" +":py:obj:`ui_window_class_type " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.envs.manager_based_rl_env_cfg.ManagerBasedRLEnvCfg:1::1 +msgid "" +"alias of " +":py:class:`~omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow`" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid "" +":py:obj:`is_finite_horizon " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid "" +"Whether the learning task is treated as a finite or infinite horizon " +"problem for the agent." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid "" +":py:obj:`episode_length_s " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.episode_length_s:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.episode_length_s:1 +#: omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid "Duration of an episode (in seconds)." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid ":py:obj:`rewards `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rewards:1 +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid "Reward settings." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid "" +":py:obj:`terminations " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.terminations:1 +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid "Termination settings." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid "" +":py:obj:`curriculum " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.curriculum:1 +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid "Curriculum settings." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid ":py:obj:`commands `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands:1 +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1::1 +msgid "Command settings." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon:1 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon:1 +msgid "" +"Whether the learning task is treated as a finite or infinite horizon " +"problem for the agent. Defaults to False, which means the task is treated" +" as an infinite horizon problem." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon:4 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon:4 +msgid "This flag handles the subtleties of finite and infinite horizon tasks:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon:6 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon:6 +msgid "" +"**Finite horizon**: no penalty or bootstrapping value is required by the " +"the agent for running out of time. However, the environment still needs " +"to terminate the episode after the time limit is reached." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon:9 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon:9 +msgid "" +"**Infinite horizon**: the agent needs to bootstrap the value of the state" +" at the end of the episode. This is done by sending a time-limit (or " +"truncated) done signal to the agent, which triggers this bootstrapping " +"calculation." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon:13 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon:13 +msgid "" +"If True, then the environment is treated as a finite horizon problem and " +"no time-out (or truncated) done signal is sent to the agent. If False, " +"then the environment is treated as an infinite horizon problem and a " +"time-out (or truncated) done signal is sent to the agent." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.is_finite_horizon:19 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon:19 +msgid "" +"The base :class:`ManagerBasedRLEnv` class does not use this flag " +"directly. It is used by the environment wrappers to determine what type " +"of done signal to send to the corresponding learning agent." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.episode_length_s:3 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.episode_length_s:3 +msgid "" +"Based on the decimation rate and physics time step, the episode length is" +" calculated as:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.episode_length_s:9 +#: omni.isaac.lab.envs.ManagerBasedRLEnvCfg.episode_length_s:9 +msgid "" +"For example, if the decimation rate is 10, the physics time step is 0.01," +" and the episode length is 10 seconds, then the episode length in steps " +"is 100." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.rewards:3 +msgid "" +"Please refer to the :class:`omni.isaac.lab.managers.RewardManager` class " +"for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.terminations:3 +msgid "" +"Please refer to the :class:`omni.isaac.lab.managers.TerminationManager` " +"class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.curriculum:3 +msgid "" +"Please refer to the :class:`omni.isaac.lab.managers.CurriculumManager` " +"class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ManagerBasedRLEnvCfg.commands:3 +msgid "" +"Please refer to the :class:`omni.isaac.lab.managers.CommandManager` class" +" for more details." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:50 +msgid "Direct RL Environment" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1 +msgid "Bases: :py:class:`~gymnasium.core.Env`" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:3 +msgid "" +"This class implements the core functionality for reinforcement learning " +"(RL) environments. It is designed to be used with any RL library. The " +"class is designed to be used with vectorized environments, i.e., the " +"environment is expected to be run in parallel with multiple sub-" +"environments." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`is_vector_env `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`metadata `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`physics_dt `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`step_dt `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid "" +":py:obj:`max_episode_length_s " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid "" +":py:obj:`max_episode_length " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.max_episode_length:1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid "The maximum episode length in steps adjusted from s." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`np_random `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv:1::1 +msgid ":py:obj:`unwrapped `\\" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\[\\, render\\_mode\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid "" +":py:obj:`reset `\\ \\(\\[seed\\, " +"options\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid ":py:obj:`step `\\ \\(action\\)" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid ":py:obj:`seed `\\ \\(\\[seed\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid "" +":py:obj:`render `\\ " +"\\(\\[recompute\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid ":py:obj:`close `\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid "" +":py:obj:`set_debug_vis `\\" +" \\(debug\\_vis\\)" +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +#: omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.set_debug_vis:1 +msgid "Toggles the environment debug visualization." +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnv.is_vector_env:1::1 +msgid "" +":py:obj:`get_wrapper_attr " +"`\\ \\(name\\)" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:3 +msgid "" +"The environment steps forward at a fixed time-step, while the physics " +"simulation is decimated at a lower time-step. This is to ensure that the " +"simulation is stable. These two time-steps can be configured " +"independently using the :attr:`DirectRLEnvCfg.decimation` (number of " +"simulation steps per environment step) and the " +":attr:`DirectRLEnvCfg.sim.physics_dt` (physics time-step). Based on these" +" parameters, the environment time-step is computed as the product of the " +"two." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:9 +msgid "This function performs the following steps:" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:11 +msgid "Pre-process the actions before stepping through the physics." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:12 +msgid "" +"Apply the actions to the simulator and step through the physics in a " +"decimated manner." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:13 +msgid "Compute the reward and done signals." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:14 +msgid "" +"Reset environments that have terminated or reached the maximum episode " +"length." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:15 +msgid "Apply interval events if they are enabled." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.step:16 +msgid "Compute observations." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.set_debug_vis:3 +msgid "Whether to visualize the environment debug visualization." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env.DirectRLEnv.set_debug_vis:5 +msgid "" +"Whether the debug visualization was successfully set. False if the " +"environment does not support debug visualization." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:3 +msgid "" +"Please refer to the " +":class:`omni.isaac.lab.envs.direct_rl_env.DirectRLEnv` class for more " +"details." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`viewer `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`sim `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`decimation `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid "" +":py:obj:`is_finite_horizon " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid "" +":py:obj:`episode_length_s " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`scene `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`events `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid "" +":py:obj:`num_observations " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.num_observations:1 +#: omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid "The dimension of the observation space from each environment instance." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`num_states `\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid "The dimension of the state-space from each environment instance." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid "" +":py:obj:`observation_noise_model " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid "" +"The noise model to apply to the computed observations from the " +"environment." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid ":py:obj:`num_actions `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.num_actions:1 +#: omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid "The dimension of the action space for each environment." +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid "" +":py:obj:`action_noise_model " +"`\\" +msgstr "" + +#: of omni.isaac.lab.envs.direct_rl_env_cfg.DirectRLEnvCfg:1::1 +msgid "The noise model applied to the actions provided to the environment." +msgstr "" + +#: of omni.isaac.lab.envs.DirectRLEnvCfg.viewer:1::1 +msgid "" +":py:obj:`ui_window_class_type " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.events:1 +msgid "" +"Event settings. Defaults to None, in which case no events are applied " +"through the event manager." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.num_states:1 +msgid "" +"The dimension of the state-space from each environment instance. Default " +"is 0, which means no state-space is defined." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.num_states:3 +msgid "" +"This is useful for asymmetric actor-critic and defines the observation " +"space for the critic." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.envs.DirectRLEnvCfg.observation_noise_model:1 +msgid "" +"The noise model to apply to the computed observations from the " +"environment. Default is None, which means no noise is added." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.action_noise_model:3 +#: omni.isaac.lab.envs.DirectRLEnvCfg.observation_noise_model:3 +msgid "" +"Please refer to the :class:`omni.isaac.lab.utils.noise.NoiseModel` class " +"for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.DirectRLEnvCfg.action_noise_model:1 +msgid "" +"The noise model applied to the actions provided to the environment. " +"Default is None, which means no noise is added." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.rst:64 +msgid "Common" +msgstr "" + +#: of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid ":py:obj:`eye `\\" +msgstr "" + +#: of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid "Initial camera position (in m)." +msgstr "" + +#: of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid ":py:obj:`lookat `\\" +msgstr "" + +#: of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid "Initial camera target position (in m)." +msgstr "" + +#: of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid ":py:obj:`cam_prim_path `\\" +msgstr "" + +#: of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid "The camera prim path to record images from." +msgstr "" + +#: of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid ":py:obj:`resolution `\\" +msgstr "" + +#: of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid "" +"The resolution (width, height) of the camera specified using " +":attr:`cam_prim_path`." +msgstr "" + +#: of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid ":py:obj:`origin_type `\\" +msgstr "" + +#: of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid "" +"The frame in which the camera position (eye) and target (lookat) are " +"defined in." +msgstr "" + +#: of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid ":py:obj:`env_index `\\" +msgstr "" + +#: of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid "The environment index for frame origin." +msgstr "" + +#: of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid ":py:obj:`asset_name `\\" +msgstr "" + +#: of omni.isaac.lab.envs.ViewerCfg.eye:1::1 +msgid "The asset name in the interactive scene for the frame origin." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.eye:1 +msgid "Initial camera position (in m). Default is (7.5, 7.5, 7.5)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.lookat:1 +msgid "Initial camera target position (in m). Default is (0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.cam_prim_path:1 +msgid "" +"The camera prim path to record images from. Default is " +"\"/OmniverseKit_Persp\", which is the default camera in the viewport." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.resolution:1 +msgid "" +"The resolution (width, height) of the camera specified using " +":attr:`cam_prim_path`. Default is (1280, 720)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.origin_type:1 +msgid "" +"The frame in which the camera position (eye) and target (lookat) are " +"defined in. Default is \"world\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.origin_type:3 +msgid "Available options are:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.origin_type:5 +msgid "``\"world\"``: The origin of the world." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.origin_type:6 +msgid "``\"env\"``: The origin of the environment defined by :attr:`env_index`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.origin_type:7 +msgid "" +"``\"asset_root\"``: The center of the asset defined by :attr:`asset_name`" +" in environment :attr:`env_index`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.env_index:1 +msgid "The environment index for frame origin. Default is 0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.env_index:3 +msgid "" +"This quantity is only effective if :attr:`origin` is set to \"env\" or " +"\"asset_root\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.asset_name:1 +msgid "" +"The asset name in the interactive scene for the frame origin. Default is " +"None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.envs.ViewerCfg.asset_name:3 +msgid "" +"This quantity is only effective if :attr:`origin` is set to " +"\"asset_root\"." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.envs.ui.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.envs.ui.po new file mode 100644 index 0000000000..b6292f20d1 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.envs.ui.po @@ -0,0 +1,371 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:2 +msgid "omni.isaac.lab.envs.ui" +msgstr "" + +#: of omni.isaac.lab.envs.ui:1 +msgid "Sub-module providing UI window implementation for environments." +msgstr "" + +#: of omni.isaac.lab.envs.ui:3 +msgid "" +"The UI elements are used to control the environment and visualize the " +"state of the environment. This includes functionalities such as tracking " +"a robot in the simulation, toggling different debug visualization tools, " +"and other user-defined functionalities." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:12::1 +msgid ":py:obj:`BaseEnvWindow `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:12::1 of +#: omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow:1 +msgid "Window manager for the basic environment." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:12::1 +msgid "" +":py:obj:`ManagerBasedRLEnvWindow " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:12::1 of +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1 +msgid "Window manager for the RL environment." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:12::1 +msgid "" +":py:obj:`ViewportCameraController " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:12::1 of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1 +msgid "" +"This class handles controlling the camera associated with a viewport in " +"the simulator." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:15 +msgid "Base Environment UI" +msgstr "" + +#: of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow:3 +msgid "" +"This class creates a window that is used to control the environment. The " +"window contains controls for rendering, debug visualization, and other " +"environment-specific UI elements." +msgstr "" + +#: of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow:7 +msgid "" +"Users can add their own UI elements to the window by using the `with` " +"context manager. This can be done either be inheriting the class or by " +"using the `env.window` object directly from the standalone execution " +"script." +msgstr "" + +#: of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow:14 +msgid "Example for adding a UI element from the standalone execution script:" +msgstr "" + +#: of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow:1 +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1 +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1 +msgid "**Methods:**" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow.__init__:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(env\\[\\, window\\_name\\]\\)" +msgstr "" + +#: of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow.__init__:1 +#: omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow.__init__:1::1 +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow.__init__:1 +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow.__init__:1::1 +msgid "Initialize the window." +msgstr "" + +#: of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow.__init__ +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow.__init__ +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__ +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.set_view_env_index +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_location +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_to_asset_root +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow.__init__:3 +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow.__init__:3 +msgid "The environment object." +msgstr "" + +#: of omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow.__init__:4 +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow.__init__:4 +msgid "The name of the window. Defaults to \"IsaacLab\"." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:21 +msgid "Config Based RL Environment UI" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:1 +msgid "Bases: :py:class:`~omni.isaac.lab.envs.ui.base_env_window.BaseEnvWindow`" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow:3 +msgid "" +"On top of the basic environment window, this class adds controls for the " +"RL environment. This includes visualization of the command manager." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow.__init__:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ \\(env\\[\\," +" window\\_name\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.envs.ui.rst:28 +msgid "Viewport Camera Controller" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:3 +msgid "" +"It can be used to set the viewpoint camera to track different origin " +"types:" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:5 +msgid "**world**: the center of the world (static)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:6 +msgid "**env**: the center of an environment (static)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:7 +msgid "" +"**asset_root**: the root of an asset in the scene (e.g. tracking a robot " +"moving in the scene)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:9 +msgid "" +"On creation, the camera is set to track the origin type specified in the " +"configuration." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:11 +msgid "" +"For the :attr:`asset_root` origin type, the camera is updated at each " +"rendering step to track the asset's root position. For this, it registers" +" a callback to the post update event stream from the simulation app." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ \\(env\\, " +"cfg\\)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:1 +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "Initialize the ViewportCameraController." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "" +":py:obj:`set_view_env_index " +"`\\ " +"\\(env\\_index\\)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.set_view_env_index:1 +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "Sets the environment index for the camera view." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "" +":py:obj:`update_view_to_world " +"`\\" +" \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_to_world:1 +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "Updates the viewer's origin to the origin of the world which is (0, 0, 0)." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "" +":py:obj:`update_view_to_env " +"`\\ " +"\\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_to_env:1 +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "Updates the viewer's origin to the origin of the selected environment." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "" +":py:obj:`update_view_to_asset_root " +"`\\" +" \\(asset\\_name\\)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_to_asset_root:1 +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "Updates the viewer's origin based upon the root of an asset in the scene." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "" +":py:obj:`update_view_location " +"`\\" +" \\(\\[eye\\, lookat\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_location:1 +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1::1 +msgid "" +"Updates the camera view pose based on the current viewer origin and the " +"eye and lookat positions." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController:1 +msgid "**Attributes:**" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: of omni.isaac.lab.envs.ui.ViewportCameraController.cfg:1 +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:1::1 +msgid "The configuration for the viewer." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:3 +msgid "The environment." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:4 +msgid "The configuration for the viewport camera controller." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__ +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.set_view_env_index +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_to_asset_root +msgid "Raises" +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:6 +msgid "" +"If origin type is configured to be \"env\" but :attr:`cfg.env_index` is " +"out of bounds." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.__init__:7 +msgid "" +"If origin type is configured to be \"asset_root\" but " +":attr:`cfg.asset_name` is unset." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.set_view_env_index:3 +msgid "The index of the environment to set the camera view to." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.set_view_env_index:5 +msgid "" +"If the environment index is out of bounds. It should be between 0 and " +"num_envs - 1." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_to_asset_root:3 +msgid "" +"The name of the asset in the scene. The name should match the name of the" +" asset in the scene." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_to_asset_root:6 +msgid "If the asset is not in the scene." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_location:3 +msgid "The eye position of the camera. If None, the current eye position is used." +msgstr "" + +#: of +#: omni.isaac.lab.envs.ui.viewport_camera_controller.ViewportCameraController.update_view_location:4 +msgid "" +"The lookat position of the camera. If None, the current lookat position " +"is used." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.managers.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.managers.po new file mode 100644 index 0000000000..d9da95d053 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.managers.po @@ -0,0 +1,2911 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:2 +msgid "omni.isaac.lab.managers" +msgstr "" + +#: of omni.isaac.lab.managers:1 +msgid "Sub-module for environment managers." +msgstr "" + +#: of omni.isaac.lab.managers:3 +msgid "" +"The managers are used to handle various aspects of the environment such " +"as randomization events, curriculum, and observations. Each manager " +"implements a specific functionality for the environment. The managers are" +" designed to be modular and can be easily extended to support new " +"functionality." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`SceneEntityCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1 +msgid "Configuration for a scene entity that is used by the manager's term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`ManagerBase `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.manager_base.ManagerBase:1 +msgid "Base class for all managers." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`ManagerTermBase `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.manager_base.ManagerTermBase:1 +msgid "Base class for manager terms." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid "" +":py:obj:`ManagerTermBaseCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.manager_term_cfg.ManagerTermBaseCfg:1 +msgid "Configuration for a manager term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid "" +":py:obj:`ObservationManager " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.observation_manager.ObservationManager:1 +msgid "Manager for computing observation signals for a given world." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid "" +":py:obj:`ObservationGroupCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.manager_term_cfg.ObservationGroupCfg:1 +msgid "Configuration for an observation group." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid "" +":py:obj:`ObservationTermCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.manager_term_cfg.ObservationTermCfg:1 +msgid "Configuration for an observation term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`ActionManager `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.action_manager.ActionManager:1 +msgid "Manager for processing and applying actions for a given world." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`ActionTerm `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.action_manager.ActionTerm:1 +msgid "Base class for action terms." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`ActionTermCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.manager_term_cfg.ActionTermCfg:1 +msgid "Configuration for an action term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`EventManager `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.event_manager.EventManager:1 +msgid "Manager for orchestrating operations based on different simulation events." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`EventTermCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.manager_term_cfg.EventTermCfg:1 +msgid "Configuration for a event term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`CommandManager `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.command_manager.CommandManager:1 +msgid "Manager for generating commands." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`CommandTerm `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.command_manager.CommandTerm:1 +msgid "The base class for implementing a command term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`CommandTermCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.manager_term_cfg.CommandTermCfg:1 +msgid "Configuration for a command generator term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`RewardManager `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.reward_manager.RewardManager:1 +msgid "Manager for computing reward signals for a given world." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`RewardTermCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.manager_term_cfg.RewardTermCfg:1 +msgid "Configuration for a reward term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid "" +":py:obj:`TerminationManager " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1 +msgid "Manager for computing done signals for a given world." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid "" +":py:obj:`TerminationTermCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.manager_term_cfg.TerminationTermCfg:1 +msgid "Configuration for a termination term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`CurriculumManager `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1 +msgid "Manager to implement and execute specific curricula." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 +msgid ":py:obj:`CurriculumTermCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:30::1 of +#: omni.isaac.lab.managers.manager_term_cfg.CurriculumTermCfg:1 +msgid "Configuration for a curriculum term." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:33 +msgid "Scene Entity" +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:3 +msgid "" +"This class is used to specify the name of the scene entity that is " +"queried from the :class:`InteractiveScene` and passed to the manager's " +"term function." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:1 +#: omni.isaac.lab.managers.action_manager.ActionTerm:1 +#: omni.isaac.lab.managers.command_manager.CommandManager:1 +#: omni.isaac.lab.managers.command_manager.CommandTerm:1 +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1 +#: omni.isaac.lab.managers.event_manager.EventManager:1 +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1 +#: omni.isaac.lab.managers.manager_base.ManagerBase:1 +#: omni.isaac.lab.managers.manager_base.ManagerTermBase:1 +#: omni.isaac.lab.managers.manager_term_cfg.ActionTermCfg:1 +#: omni.isaac.lab.managers.manager_term_cfg.CommandTermCfg:1 +#: omni.isaac.lab.managers.manager_term_cfg.CurriculumTermCfg:1 +#: omni.isaac.lab.managers.manager_term_cfg.EventTermCfg:1 +#: omni.isaac.lab.managers.manager_term_cfg.ManagerTermBaseCfg:1 +#: omni.isaac.lab.managers.manager_term_cfg.ObservationGroupCfg:1 +#: omni.isaac.lab.managers.manager_term_cfg.ObservationTermCfg:1 +#: omni.isaac.lab.managers.manager_term_cfg.TerminationTermCfg:1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager:1 +#: omni.isaac.lab.managers.reward_manager.RewardManager:1 +#: omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1 +msgid "**Attributes:**" +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid ":py:obj:`name `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ActionTermCfg.asset_name:1 +#: omni.isaac.lab.managers.ActionTermCfg.class_type:1::1 +#: omni.isaac.lab.managers.SceneEntityCfg.name:1 +#: omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "The name of the scene entity." +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "" +":py:obj:`joint_names " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "The names of the joints from the scene entity." +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid ":py:obj:`joint_ids `\\" +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "The indices of the joints from the asset required by the term." +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "" +":py:obj:`fixed_tendon_names " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "The names of the fixed tendons from the scene entity." +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "" +":py:obj:`fixed_tendon_ids " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "The indices of the fixed tendons from the asset required by the term." +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid ":py:obj:`body_names `\\" +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "The names of the bodies from the asset required by the term." +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid ":py:obj:`body_ids `\\" +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "The indices of the bodies from the asset required by the term." +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "" +":py:obj:`preserve_order " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1::1 +msgid "" +"Whether to preserve indices ordering to match with that in the specified " +"joint or body names." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:1 +#: omni.isaac.lab.managers.action_manager.ActionTerm:1 +#: omni.isaac.lab.managers.command_manager.CommandManager:1 +#: omni.isaac.lab.managers.command_manager.CommandTerm:1 +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1 +#: omni.isaac.lab.managers.event_manager.EventManager:1 +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1 +#: omni.isaac.lab.managers.manager_base.ManagerBase:1 +#: omni.isaac.lab.managers.manager_base.ManagerTermBase:1 +#: omni.isaac.lab.managers.manager_term_cfg.RewardTermCfg:1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager:1 +#: omni.isaac.lab.managers.reward_manager.RewardManager:1 +#: omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg:1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1 +msgid "**Methods:**" +msgstr "" + +#: of omni.isaac.lab.managers.SceneEntityCfg.name:1::1 +msgid "" +":py:obj:`resolve `\\ " +"\\(scene\\)" +msgstr "" + +#: of omni.isaac.lab.managers.SceneEntityCfg.name:1::1 +#: omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:1 +msgid "" +"Resolves the scene entity and converts the joint and body names to " +"indices." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ActionTermCfg.asset_name:3 +#: omni.isaac.lab.managers.SceneEntityCfg.name:3 +msgid "" +"This is the name defined in the scene configuration file. See the " +":class:`InteractiveSceneCfg` class for more details." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.joint_names:1 +msgid "The names of the joints from the scene entity. Defaults to None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names:3 +#: omni.isaac.lab.managers.SceneEntityCfg.joint_names:3 +msgid "" +"The names can be either joint names or a regular expression matching the " +"joint names." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.joint_names:5 +msgid "" +"These are converted to joint indices on initialization of the manager and" +" passed to the term function as a list of joint indices under " +":attr:`joint_ids`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.joint_ids:1 +msgid "" +"The indices of the joints from the asset required by the term. Defaults " +"to slice(None), which means all the joints in the asset (if present)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.joint_ids:4 +msgid "" +"If :attr:`joint_names` is specified, this is filled in automatically on " +"initialization of the manager." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names:1 +msgid "The names of the fixed tendons from the scene entity. Defaults to None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_names:5 +msgid "" +"These are converted to fixed tendon indices on initialization of the " +"manager and passed to the term function as a list of fixed tendon indices" +" under :attr:`fixed_tendon_ids`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_ids:1 +msgid "" +"The indices of the fixed tendons from the asset required by the term. " +"Defaults to slice(None), which means all the fixed tendons in the asset " +"(if present)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.fixed_tendon_ids:4 +msgid "" +"If :attr:`fixed_tendon_names` is specified, this is filled in " +"automatically on initialization of the manager." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.body_names:1 +msgid "" +"The names of the bodies from the asset required by the term. Defaults to " +"None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.body_names:3 +msgid "" +"The names can be either body names or a regular expression matching the " +"body names." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.body_names:5 +msgid "" +"These are converted to body indices on initialization of the manager and " +"passed to the term function as a list of body indices under " +":attr:`body_ids`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.body_ids:1 +msgid "" +"The indices of the bodies from the asset required by the term. Defaults " +"to slice(None), which means all the bodies in the asset." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.body_ids:4 +msgid "" +"If :attr:`body_names` is specified, this is filled in automatically on " +"initialization of the manager." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.preserve_order:1 +msgid "" +"Whether to preserve indices ordering to match with that in the specified " +"joint or body names. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.preserve_order:3 +msgid "" +"If False, the ordering of the indices are sorted in ascending order (i.e." +" the ordering in the entity's joints or bodies). Otherwise, the indices " +"are preserved in the order of the specified joint and body names." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.preserve_order:6 +msgid "" +"For more details, see the " +":meth:`omni.isaac.lab.utils.string.resolve_matching_names` function." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.SceneEntityCfg.preserve_order:9 +msgid "" +"This attribute is only used when :attr:`joint_names` or " +":attr:`body_names` are specified." +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:3 +msgid "" +"This function examines the scene entity from the " +":class:`InteractiveScene` and resolves the indices and names of the " +"joints and bodies. It is an expensive operation as it resolves regular " +"expressions and should be called only once." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.__init__ +#: omni.isaac.lab.managers.action_manager.ActionManager.get_term +#: omni.isaac.lab.managers.action_manager.ActionManager.process_action +#: omni.isaac.lab.managers.action_manager.ActionManager.reset +#: omni.isaac.lab.managers.action_manager.ActionTerm.__init__ +#: omni.isaac.lab.managers.action_manager.ActionTerm.process_actions +#: omni.isaac.lab.managers.command_manager.CommandManager.__init__ +#: omni.isaac.lab.managers.command_manager.CommandManager.compute +#: omni.isaac.lab.managers.command_manager.CommandManager.get_command +#: omni.isaac.lab.managers.command_manager.CommandManager.get_term +#: omni.isaac.lab.managers.command_manager.CommandManager.reset +#: omni.isaac.lab.managers.command_manager.CommandManager.set_debug_vis +#: omni.isaac.lab.managers.command_manager.CommandTerm.compute +#: omni.isaac.lab.managers.command_manager.CommandTerm.reset +#: omni.isaac.lab.managers.command_manager.CommandTerm.set_debug_vis +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__ +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager.compute +#: omni.isaac.lab.managers.event_manager.EventManager.__init__ +#: omni.isaac.lab.managers.event_manager.EventManager.apply +#: omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg +#: omni.isaac.lab.managers.event_manager.EventManager.reset +#: omni.isaac.lab.managers.event_manager.EventManager.set_term_cfg +#: omni.isaac.lab.managers.event_manager.RandomizationManager.__init__ +#: omni.isaac.lab.managers.manager_base.ManagerBase.__init__ +#: omni.isaac.lab.managers.manager_base.ManagerBase.find_terms +#: omni.isaac.lab.managers.manager_base.ManagerBase.reset +#: omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__ +#: omni.isaac.lab.managers.manager_base.ManagerTermBase.reset +#: omni.isaac.lab.managers.observation_manager.ObservationManager.__init__ +#: omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group +#: omni.isaac.lab.managers.observation_manager.ObservationManager.reset +#: omni.isaac.lab.managers.reward_manager.RewardManager.__init__ +#: omni.isaac.lab.managers.reward_manager.RewardManager.compute +#: omni.isaac.lab.managers.reward_manager.RewardManager.get_term_cfg +#: omni.isaac.lab.managers.reward_manager.RewardManager.reset +#: omni.isaac.lab.managers.reward_manager.RewardManager.set_term_cfg +#: omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve +#: omni.isaac.lab.managers.termination_manager.TerminationManager.__init__ +#: omni.isaac.lab.managers.termination_manager.TerminationManager.get_term +#: omni.isaac.lab.managers.termination_manager.TerminationManager.get_term_cfg +#: omni.isaac.lab.managers.termination_manager.TerminationManager.reset +#: omni.isaac.lab.managers.termination_manager.TerminationManager.set_term_cfg +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:7 +msgid "The interactive scene instance." +msgstr "" + +#: of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__ +#: omni.isaac.lab.managers.event_manager.EventManager.apply +#: omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg +#: omni.isaac.lab.managers.event_manager.EventManager.set_term_cfg +#: omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group +#: omni.isaac.lab.managers.reward_manager.RewardManager.get_term_cfg +#: omni.isaac.lab.managers.reward_manager.RewardManager.set_term_cfg +#: omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve +#: omni.isaac.lab.managers.termination_manager.TerminationManager.get_term_cfg +#: omni.isaac.lab.managers.termination_manager.TerminationManager.set_term_cfg +msgid "Raises" +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:9 +msgid "If the scene entity is not found." +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:10 +msgid "" +"If both ``joint_names`` and ``joint_ids`` are specified and are not " +"consistent." +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:11 +msgid "" +"If both ``fixed_tendon_names`` and ``fixed_tendon_ids`` are specified and" +" are not consistent." +msgstr "" + +#: of omni.isaac.lab.managers.scene_entity_cfg.SceneEntityCfg.resolve:12 +msgid "" +"If both ``body_names`` and ``body_ids`` are specified and are not " +"consistent." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:40 +msgid "Manager Base" +msgstr "" + +#: of omni.isaac.lab.managers.manager_base.ManagerBase:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\, env\\)" +msgstr "" + +#: of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:1 +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +#: omni.isaac.lab.managers.manager_base.ManagerBase.__init__:1 +#: omni.isaac.lab.managers.manager_base.ManagerBase:1::1 +msgid "Initialize the manager." +msgstr "" + +#: of omni.isaac.lab.managers.manager_base.ManagerBase:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.reset:1 +#: omni.isaac.lab.managers.event_manager.EventManager:1::1 +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +#: omni.isaac.lab.managers.manager_base.ManagerBase.reset:1 +#: omni.isaac.lab.managers.manager_base.ManagerBase:1::1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager.reset:1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid "" +"Resets the manager and returns logging information for the current time-" +"step." +msgstr "" + +#: of omni.isaac.lab.managers.manager_base.ManagerBase:1::1 +msgid "" +":py:obj:`find_terms `\\ " +"\\(name\\_keys\\)" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +#: omni.isaac.lab.managers.event_manager.EventManager:1::1 +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +#: omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:1 +#: omni.isaac.lab.managers.manager_base.ManagerBase:1::1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +#: omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "Find terms in the manager based on the names." +msgstr "" + +#: of +#: omni.isaac.lab.managers.manager_base.ManagerBase.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: of omni.isaac.lab.managers.ActionManager.num_envs:1 +#: omni.isaac.lab.managers.ActionTerm.num_envs:1 +#: omni.isaac.lab.managers.CurriculumManager.num_envs:1 +#: omni.isaac.lab.managers.EventManager.num_envs:1 +#: omni.isaac.lab.managers.ManagerBase.num_envs:1 +#: omni.isaac.lab.managers.ManagerTermBase.num_envs:1 +#: omni.isaac.lab.managers.ObservationManager.num_envs:1 +#: omni.isaac.lab.managers.RandomizationManager.num_envs:1 +#: omni.isaac.lab.managers.RewardManager.num_envs:1 +#: omni.isaac.lab.managers.TerminationManager.num_envs:1 +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +#: omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:1::1 +#: omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +#: omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +#: omni.isaac.lab.managers.manager_base.ManagerBase.__init__:1::1 +#: omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:1::1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +#: omni.isaac.lab.managers.reward_manager.RewardManager.__init__:1::1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "Number of environments." +msgstr "" + +#: of +#: omni.isaac.lab.managers.manager_base.ManagerBase.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of omni.isaac.lab.managers.ActionManager.device:1 +#: omni.isaac.lab.managers.ActionTerm.device:1 +#: omni.isaac.lab.managers.CurriculumManager.device:1 +#: omni.isaac.lab.managers.EventManager.device:1 +#: omni.isaac.lab.managers.ManagerBase.device:1 +#: omni.isaac.lab.managers.ManagerTermBase.device:1 +#: omni.isaac.lab.managers.ObservationManager.device:1 +#: omni.isaac.lab.managers.RandomizationManager.device:1 +#: omni.isaac.lab.managers.RewardManager.device:1 +#: omni.isaac.lab.managers.TerminationManager.device:1 +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +#: omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:1::1 +#: omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +#: omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +#: omni.isaac.lab.managers.manager_base.ManagerBase.__init__:1::1 +#: omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:1::1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +#: omni.isaac.lab.managers.reward_manager.RewardManager.__init__:1::1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "Device on which to perform computations." +msgstr "" + +#: of +#: omni.isaac.lab.managers.manager_base.ManagerBase.__init__:1::1 +msgid "" +":py:obj:`active_terms " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.ManagerBase.active_terms:1 +#: omni.isaac.lab.managers.manager_base.ManagerBase.__init__:1::1 +msgid "Name of active terms." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:3 +#: omni.isaac.lab.managers.manager_base.ManagerBase.__init__:3 +#: omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:3 +msgid "The configuration object." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.__init__:4 +#: omni.isaac.lab.managers.action_manager.ActionTerm.__init__:4 +#: omni.isaac.lab.managers.command_manager.CommandManager.__init__:4 +#: omni.isaac.lab.managers.manager_base.ManagerBase.__init__:4 +#: omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:4 +#: omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:4 +#: omni.isaac.lab.managers.reward_manager.RewardManager.__init__:4 +msgid "The environment instance." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.reset:3 +#: omni.isaac.lab.managers.manager_base.ManagerBase.reset:3 +#: omni.isaac.lab.managers.observation_manager.ObservationManager.reset:3 +msgid "" +"The environment ids for which to log data. Defaults None, which logs data" +" for all environments." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.get_term +#: omni.isaac.lab.managers.action_manager.ActionManager.reset +#: omni.isaac.lab.managers.action_manager.ActionManager.set_debug_vis +#: omni.isaac.lab.managers.action_manager.ActionTerm.set_debug_vis +#: omni.isaac.lab.managers.command_manager.CommandManager.get_command +#: omni.isaac.lab.managers.command_manager.CommandManager.get_term +#: omni.isaac.lab.managers.command_manager.CommandManager.reset +#: omni.isaac.lab.managers.command_manager.CommandManager.set_debug_vis +#: omni.isaac.lab.managers.command_manager.CommandTerm.reset +#: omni.isaac.lab.managers.command_manager.CommandTerm.set_debug_vis +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager.reset +#: omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg +#: omni.isaac.lab.managers.event_manager.EventManager.reset +#: omni.isaac.lab.managers.manager_base.ManagerBase.find_terms +#: omni.isaac.lab.managers.manager_base.ManagerBase.reset +#: omni.isaac.lab.managers.observation_manager.ObservationManager.compute +#: omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group +#: omni.isaac.lab.managers.observation_manager.ObservationManager.reset +#: omni.isaac.lab.managers.reward_manager.RewardManager.compute +#: omni.isaac.lab.managers.reward_manager.RewardManager.get_term_cfg +#: omni.isaac.lab.managers.reward_manager.RewardManager.reset +#: omni.isaac.lab.managers.termination_manager.TerminationManager.compute +#: omni.isaac.lab.managers.termination_manager.TerminationManager.get_term +#: omni.isaac.lab.managers.termination_manager.TerminationManager.get_term_cfg +#: omni.isaac.lab.managers.termination_manager.TerminationManager.reset +msgid "Returns" +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.reset:6 +#: omni.isaac.lab.managers.manager_base.ManagerBase.reset:6 +#: omni.isaac.lab.managers.observation_manager.ObservationManager.reset:6 +msgid "Dictionary containing the logging information." +msgstr "" + +#: of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:3 +msgid "" +"This function searches the manager for terms based on the names. The " +"names can be specified as regular expressions or a list of regular " +"expressions. The search is performed on the active terms in the manager." +msgstr "" + +#: of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:7 +msgid "" +"Please check the " +":meth:`omni.isaac.lab.utils.string_utils.resolve_matching_names` function" +" for more information on the name matching." +msgstr "" + +#: of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:10 +msgid "" +"A regular expression or a list of regular expressions to match the term " +"names." +msgstr "" + +#: of omni.isaac.lab.managers.manager_base.ManagerBase.find_terms:12 +msgid "A list of term names that match the input keys." +msgstr "" + +#: of omni.isaac.lab.managers.manager_base.ManagerTermBase:3 +msgid "" +"Manager term implementations can be functions or classes. If the term is " +"a class, it should inherit from this base class and implement the " +"required methods." +msgstr "" + +#: of omni.isaac.lab.managers.manager_base.ManagerTermBase:6 +msgid "" +"Each manager is implemented as a class that inherits from the " +":class:`ManagerBase` class. Each manager class should also have a " +"corresponding configuration class that defines the configuration terms " +"for the manager. Each term should the :class:`ManagerTermBaseCfg` class " +"or its subclass." +msgstr "" + +#: of omni.isaac.lab.managers.manager_base.ManagerTermBase:10 +msgid "Example pseudo-code for creating a manager:" +msgstr "" + +#: of omni.isaac.lab.managers.manager_base.ManagerTermBase:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\, env\\)" +msgstr "" + +#: of omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:1 +#: omni.isaac.lab.managers.manager_base.ManagerTermBase:1::1 +msgid "Initialize the manager term." +msgstr "" + +#: of omni.isaac.lab.managers.manager_base.ManagerTermBase:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +#: omni.isaac.lab.managers.manager_base.ManagerTermBase.reset:1 +#: omni.isaac.lab.managers.manager_base.ManagerTermBase:1::1 +msgid "Resets the manager term." +msgstr "" + +#: of +#: omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.manager_base.ManagerTermBase.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.reset:3 +#: omni.isaac.lab.managers.manager_base.ManagerTermBase.reset:3 +#: omni.isaac.lab.managers.termination_manager.TerminationManager.reset:3 +msgid "" +"The environment ids. Defaults to None, in which case all environments are" +" considered." +msgstr "" + +#: of omni.isaac.lab.managers.ManagerTermBaseCfg.func:1::1 +msgid ":py:obj:`func `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ManagerTermBaseCfg.func:1 +#: omni.isaac.lab.managers.ManagerTermBaseCfg.func:1::1 +msgid "The function or class to be called for the term." +msgstr "" + +#: of omni.isaac.lab.managers.ManagerTermBaseCfg.func:1::1 +msgid ":py:obj:`params `\\" +msgstr "" + +#: of omni.isaac.lab.managers.ManagerTermBaseCfg.func:1::1 +msgid "The parameters to be passed to the function as keyword arguments." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ManagerTermBaseCfg.func:3 +msgid "" +"The function must take the environment object as the first argument. The " +"remaining arguments are specified in the :attr:`params` attribute." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ManagerTermBaseCfg.func:6 +msgid "" +"It also supports `callable classes`_, i.e. classes that implement the " +":meth:`__call__` method. In this case, the class should inherit from the " +":class:`ManagerTermBase` class and implement the required methods." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.CurriculumTermCfg.params:1 +#: omni.isaac.lab.managers.EventTermCfg.params:1 +#: omni.isaac.lab.managers.ManagerTermBaseCfg.params:1 +#: omni.isaac.lab.managers.ObservationTermCfg.params:1 +#: omni.isaac.lab.managers.RandomizationTermCfg.params:1 +#: omni.isaac.lab.managers.TerminationTermCfg.params:1 +msgid "" +"The parameters to be passed to the function as keyword arguments. " +"Defaults to an empty dict." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.CurriculumTermCfg.params:4 +#: omni.isaac.lab.managers.EventTermCfg.params:4 +#: omni.isaac.lab.managers.ManagerTermBaseCfg.params:4 +#: omni.isaac.lab.managers.ObservationTermCfg.params:4 +#: omni.isaac.lab.managers.RandomizationTermCfg.params:4 +#: omni.isaac.lab.managers.TerminationTermCfg.params:4 +msgid "" +"If the value is a :class:`SceneEntityCfg` object, the manager will query " +"the scene entity from the :class:`InteractiveScene` and process the " +"entity's joints and bodies as specified in the :class:`SceneEntityCfg` " +"object." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:53 +msgid "Observation Manager" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:1 +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1 +#: omni.isaac.lab.managers.event_manager.EventManager:1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager:1 +#: omni.isaac.lab.managers.reward_manager.RewardManager:1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1 +msgid "Bases: :py:class:`~omni.isaac.lab.managers.manager_base.ManagerBase`" +msgstr "" + +#: of omni.isaac.lab.managers.observation_manager.ObservationManager:3 +msgid "" +"Observations are organized into groups based on their intended usage. " +"This allows having different observation groups for different types of " +"learning such as asymmetric actor-critic and student-teacher training. " +"Each group contains observation terms which contain information about the" +" observation function to call, the noise corruption model to use, and the" +" sensor to retrieve data from." +msgstr "" + +#: of omni.isaac.lab.managers.observation_manager.ObservationManager:8 +msgid "" +"Each observation group should inherit from the " +":class:`ObservationGroupCfg` class. Within each group, each observation " +"term should instantiate the :class:`ObservationTermCfg` class." +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ \\(cfg\\, env\\)" +msgstr "" + +#: of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid "Initialize observation manager." +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid "" +":py:obj:`compute `\\ " +"\\(\\)" +msgstr "" + +#: of omni.isaac.lab.managers.observation_manager.ObservationManager.compute:1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid "Compute the observations per group for all groups." +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid "" +":py:obj:`compute_group " +"`\\ " +"\\(group\\_name\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid "Computes the observations for a given group." +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager:1::1 +msgid "" +":py:obj:`find_terms " +"`\\ " +"\\(name\\_keys\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid "" +":py:obj:`active_terms " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.ObservationManager.active_terms:1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid "Name of active observation terms in each group." +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid "" +":py:obj:`group_obs_dim " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.ObservationManager.group_obs_dim:1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid "Shape of observation tensor in each group." +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid "" +":py:obj:`group_obs_term_dim " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.ObservationManager.group_obs_term_dim:1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid "Shape of observation tensor for each term in each group." +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid "" +":py:obj:`group_obs_concatenate " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.ObservationManager.group_obs_concatenate:1 +#: omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid "Whether the observation terms are concatenated in each group." +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: of omni.isaac.lab.managers.observation_manager.ObservationManager.__init__:3 +msgid "" +"The configuration object or dictionary (``dict[str, " +"ObservationGroupCfg]``)." +msgstr "" + +#: of omni.isaac.lab.managers.observation_manager.ObservationManager.compute:3 +msgid "" +"The method computes the observations for all the groups handled by the " +"observation manager. Please check the :meth:`compute_group` on the " +"processing of observations per group." +msgstr "" + +#: of omni.isaac.lab.managers.observation_manager.ObservationManager.compute:6 +msgid "" +"A dictionary with keys as the group names and values as the computed " +"observations." +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:3 +msgid "" +"The observations for a given group are computed by calling the registered" +" functions for each term in the group. The functions are called in the " +"order of the terms in the group. The functions are expected to return a " +"tensor with shape (num_envs, ...)." +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:7 +msgid "" +"If a corruption/noise model is registered for a term, the function is " +"called to corrupt the observation. The corruption function is expected to" +" return a tensor with the same shape as the observation. The observations" +" are clipped and scaled as per the configuration settings." +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:12 +msgid "" +"The operations are performed in the order: compute, add corruption/noise," +" clip, scale. By default, no scaling or clipping is applied." +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:15 +msgid "" +"The name of the group for which to compute the observations. Defaults to " +"None, in which case observations for all the groups are computed and " +"returned." +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:18 +msgid "" +"Depending on the group's configuration, the tensors for individual " +"observation terms are concatenated along the last dimension into a single" +" tensor. Otherwise, they are returned as a dictionary with keys " +"corresponding to the term's name." +msgstr "" + +#: of +#: omni.isaac.lab.managers.observation_manager.ObservationManager.compute_group:22 +msgid "If input ``group_name`` is not a valid group handled by the manager." +msgstr "" + +#: of +#: omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms:1::1 +msgid "" +":py:obj:`concatenate_terms " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms:1::1 +msgid "Whether to concatenate the observation terms in the group." +msgstr "" + +#: of +#: omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms:1::1 +msgid "" +":py:obj:`enable_corruption " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms:1::1 +msgid "Whether to enable corruption for the observation group." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms:1 +msgid "" +"Whether to concatenate the observation terms in the group. Defaults to " +"True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.managers.ObservationGroupCfg.concatenate_terms:3 +msgid "" +"If true, the observation terms in the group are concatenated along the " +"last dimension. Otherwise, they are kept separate and returned as a " +"dictionary." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.managers.ObservationGroupCfg.enable_corruption:1 +msgid "Whether to enable corruption for the observation group. Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.managers.ObservationGroupCfg.enable_corruption:3 +msgid "" +"If true, the observation terms in the group are corrupted by adding noise" +" (if specified). Otherwise, no corruption is applied." +msgstr "" + +#: of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +msgid ":py:obj:`func `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.CurriculumTermCfg.func:1 +#: omni.isaac.lab.managers.CurriculumTermCfg.func:1::1 +#: omni.isaac.lab.managers.EventTermCfg.func:1 +#: omni.isaac.lab.managers.EventTermCfg.params:1::1 +#: omni.isaac.lab.managers.ObservationTermCfg.func:1 +#: omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +#: omni.isaac.lab.managers.RandomizationTermCfg.func:1 +#: omni.isaac.lab.managers.TerminationTermCfg.func:1 +#: omni.isaac.lab.managers.TerminationTermCfg.params:1::1 +msgid "The name of the function to be called." +msgstr "" + +#: of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +msgid ":py:obj:`noise `\\" +msgstr "" + +#: of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +msgid "The noise to add to the observation." +msgstr "" + +#: of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +msgid ":py:obj:`clip `\\" +msgstr "" + +#: of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +msgid "The clipping range for the observation after adding noise." +msgstr "" + +#: of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +msgid ":py:obj:`scale `\\" +msgstr "" + +#: of omni.isaac.lab.managers.ObservationTermCfg.func:1::1 +msgid "The scale to apply to the observation after clipping." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ObservationTermCfg.func:3 +msgid "" +"This function should take the environment object and any other parameters" +" as input and return the observation signal as torch float tensors of " +"shape (num_envs, obs_term_dim)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ObservationTermCfg.noise:1 +msgid "" +"The noise to add to the observation. Defaults to None, in which case no " +"noise is added." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ObservationTermCfg.clip:1 +msgid "" +"The clipping range for the observation after adding noise. Defaults to " +"None, in which case no clipping is applied." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ObservationTermCfg.scale:1 +msgid "" +"The scale to apply to the observation after clipping. Defaults to None, " +"in which case no scaling is applied (same as setting scale to :obj:`1`)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:69 +msgid "Action Manager" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:3 +msgid "" +"The action manager handles the interpretation and application of user-" +"defined actions on a given world. It is comprised of different action " +"terms that decide the dimension of the expected actions." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:7 +msgid "The action manager performs operations at two stages:" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:9 +msgid "" +"processing of actions: It splits the input actions to each term and " +"performs any pre-processing needed. This should be called once at every " +"environment step." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:11 +msgid "" +"apply actions: This operation typically sets the processed actions into " +"the assets in the scene (such as robots). It should be called before " +"every simulation step." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\, env\\)" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.__init__:1 +#: omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "Initialize the action manager." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "" +":py:obj:`set_debug_vis " +"`\\ " +"\\(debug\\_vis\\)" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "Sets whether to visualize the action data." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.reset:1 +#: omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "Resets the action history." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "" +":py:obj:`process_action " +"`\\ \\(action\\)" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.process_action:1 +#: omni.isaac.lab.managers.action_manager.ActionManager:1::1 +#: omni.isaac.lab.managers.action_manager.ActionTerm.process_actions:1 +#: omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid "Processes the actions sent to the environment." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "" +":py:obj:`apply_action " +"`\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.apply_action:1 +#: omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "Applies the actions to the environment/simulation." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "" +":py:obj:`get_term `\\ " +"\\(name\\)" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.get_term:1 +#: omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "Returns the action term with the specified name." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager:1::1 +msgid "" +":py:obj:`find_terms `\\" +" \\(name\\_keys\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "" +":py:obj:`total_action_dim " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.ActionManager.total_action_dim:1 +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "Total dimension of actions." +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "" +":py:obj:`active_terms " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.ActionManager.active_terms:1 +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "Name of active action terms." +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "" +":py:obj:`action_term_dim " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.ActionManager.action_term_dim:1 +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "Shape of each action term." +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid ":py:obj:`action `\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "The actions sent to the environment." +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "" +":py:obj:`prev_action " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "The previous actions sent to the environment." +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.ActionManager.has_debug_vis_implementation:1 +#: omni.isaac.lab.managers.CommandManager.has_debug_vis_implementation:1 +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +#: omni.isaac.lab.managers.command_manager.CommandManager.__init__:1::1 +msgid "Whether the command terms have debug visualization implemented." +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionManager.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.__init__:3 +msgid "The configuration object or dictionary (``dict[str, ActionTermCfg]``)." +msgstr "" + +#: of omni.isaac.lab.managers.ActionManager.action:1 +msgid "" +"The actions sent to the environment. Shape is (num_envs, " +"total_action_dim)." +msgstr "" + +#: of omni.isaac.lab.managers.ActionManager.prev_action:1 +msgid "" +"The previous actions sent to the environment. Shape is (num_envs, " +"total_action_dim)." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.set_debug_vis:1 +msgid "" +"Sets whether to visualize the action data. :param debug_vis: Whether to " +"visualize the action data." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.set_debug_vis:4 +msgid "" +"Whether the debug visualization was successfully set. False if the action" +" does not support debug visualization." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.reset:6 +msgid "An empty dictionary." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.process_action:3 +msgid "This function should be called once per environment step." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.process_action:5 +#: omni.isaac.lab.managers.action_manager.ActionTerm.process_actions:5 +msgid "The actions to process." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.apply_action:3 +msgid "This should be called at every simulation step." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.get_term:3 +msgid "The name of the action term." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionManager.get_term:5 +msgid "The action term with the specified name." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm:1 +msgid "Bases: :py:class:`~omni.isaac.lab.managers.manager_base.ManagerTermBase`" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm:3 +msgid "" +"The action term is responsible for processing the raw actions sent to the" +" environment and applying them to the asset managed by the term. The " +"action term is comprised of two operations:" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm:7 +msgid "" +"Processing of actions: This operation is performed once per **environment" +" step** and is responsible for pre-processing the raw actions sent to the" +" environment." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm:9 +msgid "" +"Applying actions: This operation is performed once per **simulation " +"step** and is responsible for applying the processed actions to the asset" +" managed by the term." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\, env\\)" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1 +#: omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid "Initialize the action term." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid "" +":py:obj:`set_debug_vis " +"`\\ \\(debug\\_vis\\)" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid "Sets whether to visualize the action term data." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid "" +":py:obj:`process_actions " +"`\\ \\(actions\\)" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid "" +":py:obj:`apply_actions " +"`\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm.apply_actions:1 +#: omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid "Applies the actions to the asset managed by the term." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid ":py:obj:`action_dim `\\" +msgstr "" + +#: of omni.isaac.lab.managers.ActionTerm.action_dim:1 +#: omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid "Dimension of the action term." +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid ":py:obj:`raw_actions `\\" +msgstr "" + +#: of omni.isaac.lab.managers.ActionTerm.raw_actions:1 +#: omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid "The input/raw actions sent to the term." +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid "" +":py:obj:`processed_actions " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.ActionTerm.processed_actions:1 +#: omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid "The actions computed by the term after applying any processing." +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.ActionTerm.has_debug_vis_implementation:1 +#: omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid "Whether the action term has a debug visualization implemented." +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.action_manager.ActionTerm.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm.set_debug_vis:1 +msgid "" +"Sets whether to visualize the action term data. :param debug_vis: Whether" +" to visualize the action term data." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm.set_debug_vis:4 +msgid "" +"Whether the debug visualization was successfully set. False if the action" +" term does not support debug visualization." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm.process_actions:3 +msgid "This function is called once per environment step by the manager." +msgstr "" + +#: of omni.isaac.lab.managers.action_manager.ActionTerm.apply_actions:3 +msgid "This is called at every simulation step by the manager." +msgstr "" + +#: of omni.isaac.lab.managers.ActionTermCfg.class_type:1::1 +msgid ":py:obj:`class_type `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ActionTermCfg.class_type:1 +#: omni.isaac.lab.managers.ActionTermCfg.class_type:1::1 +msgid "The associated action term class." +msgstr "" + +#: of omni.isaac.lab.managers.ActionTermCfg.class_type:1::1 +msgid ":py:obj:`asset_name `\\" +msgstr "" + +#: of omni.isaac.lab.managers.ActionTermCfg.class_type:1::1 +msgid ":py:obj:`debug_vis `\\" +msgstr "" + +#: of omni.isaac.lab.managers.ActionTermCfg.class_type:1::1 +#: omni.isaac.lab.managers.CommandTermCfg.resampling_time_range:1::1 +msgid "Whether to visualize debug information." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ActionTermCfg.class_type:3 +msgid "" +"The class should inherit from " +":class:`omni.isaac.lab.managers.action_manager.ActionTerm`." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.ActionTermCfg.debug_vis:1 +#: omni.isaac.lab.managers.CommandTermCfg.debug_vis:1 +msgid "Whether to visualize debug information. Defaults to False." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:86 +msgid "Event Manager" +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:3 +msgid "" +"The event manager applies operations to the environment based on " +"different simulation events. For example, changing the masses of objects " +"or their friction coefficients during initialization/ reset, or applying " +"random pushes to the robot at a fixed interval of steps. The user can " +"specify several modes of events to fine-tune the behavior based on when " +"to apply the event." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:8 +msgid "" +"The event terms are parsed from a config class containing the manager's " +"settings and each term's parameters. Each event term should instantiate " +"the :class:`EventTermCfg` class." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:11 +msgid "" +"Event terms can be grouped by their mode. The mode is a user-defined " +"string that specifies when the event term should be applied. This " +"provides the user complete control over when event terms should be " +"applied." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:15 +msgid "" +"For a typical training process, you may want to apply events in the " +"following modes:" +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:17 +msgid "\"startup\": Event is applied once at the beginning of the training." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:18 +msgid "\"reset\": Event is applied at every reset." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:19 +msgid "\"interval\": Event is applied at pre-specified intervals of time." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:21 +msgid "" +"However, you can also define your own modes and use them in the training " +"process as you see fit. For this you will need to add the triggering of " +"that mode in the environment implementation as well." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:26 +msgid "" +"The triggering of operations corresponding to the mode ``\"interval\"`` " +"are the only mode that are directly handled by the manager itself. The " +"other modes are handled by the environment implementation." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\, env\\)" +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.__init__:1 +#: omni.isaac.lab.managers.event_manager.EventManager:1::1 +msgid "Initialize the event manager." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:1::1 +msgid "" +":py:obj:`apply `\\ " +"\\(mode\\[\\, env\\_ids\\, dt\\]\\)" +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.apply:1 +#: omni.isaac.lab.managers.event_manager.EventManager:1::1 +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid "Calls each event term in the specified mode." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:1::1 +msgid "" +":py:obj:`set_term_cfg " +"`\\ \\(term\\_name\\, " +"cfg\\)" +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.set_term_cfg:1 +#: omni.isaac.lab.managers.event_manager.EventManager:1::1 +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +#: omni.isaac.lab.managers.reward_manager.RewardManager.set_term_cfg:1 +#: omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager.set_term_cfg:1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "Sets the configuration of the specified term into the manager." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:1::1 +msgid "" +":py:obj:`get_term_cfg " +"`\\ \\(term\\_name\\)" +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg:1 +#: omni.isaac.lab.managers.event_manager.EventManager:1::1 +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +#: omni.isaac.lab.managers.reward_manager.RewardManager.get_term_cfg:1 +#: omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager.get_term_cfg:1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "Gets the configuration for the specified term." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager:1::1 +msgid "" +":py:obj:`find_terms `\\ " +"\\(name\\_keys\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +msgid "" +":py:obj:`active_terms " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.EventManager.active_terms:1 +#: omni.isaac.lab.managers.RandomizationManager.active_terms:1 +#: omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +#: omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +msgid "Name of active event terms." +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +msgid "" +":py:obj:`available_modes " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.EventManager.available_modes:1 +#: omni.isaac.lab.managers.RandomizationManager.available_modes:1 +#: omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +#: omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +msgid "Modes of events." +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.EventManager.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.__init__:3 +#: omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:3 +msgid "A configuration object or dictionary (``dict[str, EventTermCfg]``)." +msgstr "" + +#: of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:4 +#: omni.isaac.lab.managers.event_manager.EventManager.__init__:4 +#: omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:4 +#: omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:4 +msgid "An environment object." +msgstr "" + +#: of omni.isaac.lab.managers.EventManager.active_terms:3 +#: omni.isaac.lab.managers.RandomizationManager.active_terms:3 +msgid "" +"The keys are the modes of event and the values are the names of the event" +" terms." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.apply:5 +msgid "" +"For interval mode, the time step of the environment is used to determine " +"if the event should be applied." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.apply:8 +msgid "The mode of event." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.apply:9 +msgid "" +"The indices of the environments to apply the event to. Defaults to None, " +"in which case the event is applied to all environments." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.apply:11 +msgid "" +"The time step of the environment. This is only used for the \"interval\" " +"mode. Defaults to None to simplify the call for other modes." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.apply:14 +msgid "If the mode is ``\"interval\"`` and the time step is not provided." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.set_term_cfg:3 +msgid "" +"The method finds the term by name by searching through all the modes. It " +"then updates the configuration of the term with the first matching name." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg:6 +#: omni.isaac.lab.managers.event_manager.EventManager.set_term_cfg:6 +msgid "The name of the event term." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.set_term_cfg:7 +msgid "The configuration for the event term." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg:10 +#: omni.isaac.lab.managers.event_manager.EventManager.set_term_cfg:9 +#: omni.isaac.lab.managers.reward_manager.RewardManager.get_term_cfg:7 +#: omni.isaac.lab.managers.reward_manager.RewardManager.set_term_cfg:6 +#: omni.isaac.lab.managers.termination_manager.TerminationManager.get_term_cfg:7 +#: omni.isaac.lab.managers.termination_manager.TerminationManager.set_term_cfg:6 +msgid "If the term name is not found." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg:3 +msgid "" +"The method finds the term by name by searching through all the modes. It " +"then returns the configuration of the term with the first matching name." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.EventManager.get_term_cfg:8 +msgid "The configuration of the event term." +msgstr "" + +#: of omni.isaac.lab.managers.EventTermCfg.params:1::1 +msgid ":py:obj:`func `\\" +msgstr "" + +#: of omni.isaac.lab.managers.EventTermCfg.params:1::1 +msgid ":py:obj:`mode `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.mode:1 +#: omni.isaac.lab.managers.EventTermCfg.params:1::1 +#: omni.isaac.lab.managers.RandomizationTermCfg.mode:1 +msgid "The mode in which the event term is applied." +msgstr "" + +#: of omni.isaac.lab.managers.EventTermCfg.params:1::1 +msgid "" +":py:obj:`interval_range_s " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.interval_range_s:1 +#: omni.isaac.lab.managers.EventTermCfg.params:1::1 +#: omni.isaac.lab.managers.RandomizationTermCfg.interval_range_s:1 +msgid "The range of time in seconds at which the term is applied." +msgstr "" + +#: of omni.isaac.lab.managers.EventTermCfg.params:1::1 +msgid "" +":py:obj:`is_global_time " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.is_global_time:1 +#: omni.isaac.lab.managers.EventTermCfg.params:1::1 +#: omni.isaac.lab.managers.RandomizationTermCfg.is_global_time:1 +msgid "Whether randomization should be tracked on a per-environment basis." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.func:3 +#: omni.isaac.lab.managers.RandomizationTermCfg.func:3 +msgid "" +"This function should take the environment object, environment indices and" +" any other parameters as input." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.mode:5 +#: omni.isaac.lab.managers.RandomizationTermCfg.mode:5 +msgid "" +"The mode name ``\"interval\"`` is a special mode that is handled by the " +"manager Hence, its name is reserved and cannot be used for other modes." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.interval_range_s:3 +#: omni.isaac.lab.managers.RandomizationTermCfg.interval_range_s:3 +msgid "" +"Based on this, the interval is sampled uniformly between the specified " +"range for each environment instance. The term is applied on the " +"environment instances where the current time hits the interval time." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.interval_range_s:7 +#: omni.isaac.lab.managers.EventTermCfg.is_global_time:6 +#: omni.isaac.lab.managers.RandomizationTermCfg.interval_range_s:7 +#: omni.isaac.lab.managers.RandomizationTermCfg.is_global_time:6 +msgid "This is only used if the mode is ``\"interval\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.EventTermCfg.is_global_time:3 +#: omni.isaac.lab.managers.RandomizationTermCfg.is_global_time:3 +msgid "" +"If True, the same time for the interval is tracked for all the " +"environments instead of tracking the time per-environment." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:98 +msgid "Randomization Manager" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:100 +msgid "" +"The Randomization Manager is deprecated and will be removed in v0.4. " +"Please use the :class:`EventManager` class instead." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.RandomizationManager:1 +msgid "Bases: :py:class:`~omni.isaac.lab.managers.event_manager.EventManager`" +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.RandomizationManager:1 +msgid "" +"Manager for applying event specific operations to different elements in " +"the scene." +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.RandomizationManager:3 +msgid "" +"As the RandomizationManager also handles events such as resetting the " +"environment, the class has been renamed to EventManager as it is more " +"general purpose. The RandomizationManager will be removed in v0.4.0." +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ \\(cfg\\, " +"env\\)" +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1 +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid "Initialize the randomization manager." +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid "" +":py:obj:`apply `\\ " +"\\(mode\\[\\, env\\_ids\\, dt\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid "" +":py:obj:`find_terms " +"`\\ " +"\\(name\\_keys\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid "" +":py:obj:`get_term_cfg " +"`\\ " +"\\(term\\_name\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid "" +":py:obj:`randomize " +"`\\ \\(mode\\[\\," +" env\\_ids\\, dt\\]\\)" +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.RandomizationManager.randomize:1 +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid "Randomize the environment." +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.RandomizationManager:1::1 +msgid "" +":py:obj:`set_term_cfg " +"`\\ " +"\\(term\\_name\\, cfg\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +msgid "" +":py:obj:`active_terms " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +msgid "" +":py:obj:`available_modes " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.event_manager.RandomizationManager.__init__:1::1 +msgid "" +":py:obj:`num_envs " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.event_manager.RandomizationManager.randomize:3 +msgid "" +"This method will be removed in v0.4.0. Please use the method " +":meth:`EventManager.apply` instead." +msgstr "" + +#: of omni.isaac.lab.managers.manager_term_cfg.RandomizationTermCfg:1 +msgid "Configuration for a randomization term." +msgstr "" + +#: of omni.isaac.lab.managers.manager_term_cfg.RandomizationTermCfg:5 +msgid "" +"This class is deprecated and will be removed in v0.4.0. Please use " +":class:`EventTermCfg` instead." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:114 +msgid "Command Manager" +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager:3 +msgid "" +"The command manager is used to generate commands for an agent to execute." +" It makes it convenient to switch between different command generation " +"strategies within the same environment. For instance, in an environment " +"consisting of a quadrupedal robot, the command to it could be a velocity " +"command or position command. By keeping the command generation logic " +"separate from the environment, it is easy to switch between different " +"command generation strategies." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager:9 +msgid "" +"The command terms are implemented as classes that inherit from the " +":class:`CommandTerm` class. Each command generator term should also have " +"a corresponding configuration class that inherits from the " +":class:`CommandTermCfg` class." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\, env\\)" +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.__init__:1 +#: omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "Initialize the command manager." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "" +":py:obj:`set_debug_vis " +"`\\ " +"\\(debug\\_vis\\)" +msgstr "" + +#: of omni.isaac.lab.managers.CommandTerm.command:1::1 +#: omni.isaac.lab.managers.command_manager.CommandManager.set_debug_vis:1 +#: omni.isaac.lab.managers.command_manager.CommandManager:1::1 +#: omni.isaac.lab.managers.command_manager.CommandTerm.set_debug_vis:1 +msgid "Sets whether to visualize the command data." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.reset:1 +#: omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "Reset the command terms and log their metrics." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "" +":py:obj:`compute `\\ " +"\\(dt\\)" +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.compute:1 +#: omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "Updates the commands." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "" +":py:obj:`get_command " +"`\\ \\(name\\)" +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.get_command:1 +#: omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "Returns the command for the specified command term." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "" +":py:obj:`get_term `\\ " +"\\(name\\)" +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.get_term:1 +#: omni.isaac.lab.managers.command_manager.CommandManager:1::1 +msgid "Returns the command term with the specified name." +msgstr "" + +#: of +#: omni.isaac.lab.managers.command_manager.CommandManager.__init__:1::1 +msgid "" +":py:obj:`active_terms " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.CommandManager.active_terms:1 +#: omni.isaac.lab.managers.command_manager.CommandManager.__init__:1::1 +msgid "Name of active command terms." +msgstr "" + +#: of +#: omni.isaac.lab.managers.command_manager.CommandManager.__init__:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.__init__:3 +msgid "The configuration object or dictionary (``dict[str, CommandTermCfg]``)." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.set_debug_vis:3 +#: omni.isaac.lab.managers.command_manager.CommandTerm.set_debug_vis:3 +msgid "Whether to visualize the command data." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.set_debug_vis:5 +#: omni.isaac.lab.managers.command_manager.CommandTerm.set_debug_vis:5 +msgid "" +"Whether the debug visualization was successfully set. False if the " +"command generator does not support debug visualization." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.reset:3 +msgid "" +"This function resets the command counter and resamples the command for " +"each term. It should be called at the beginning of each episode." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.reset:6 +#: omni.isaac.lab.managers.command_manager.CommandTerm.reset:6 +msgid "The list of environment IDs to reset. Defaults to None." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.reset:8 +msgid "" +"A dictionary containing the information to log under the " +"\"Metrics/{term_name}/{metric_name}\" key." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.compute:3 +msgid "This function calls each command term managed by the class." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.compute:5 +#: omni.isaac.lab.managers.reward_manager.RewardManager.compute:6 +msgid "The time-step interval of the environment." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.get_command:3 +#: omni.isaac.lab.managers.command_manager.CommandManager.get_term:3 +msgid "The name of the command term." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.get_command:5 +msgid "The command tensor of the specified command term." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandManager.get_term:5 +msgid "The command term with the specified name." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandTerm:3 +msgid "" +"A command term is used to generate commands for goal-conditioned tasks. " +"For example, in the case of a goal-conditioned navigation task, the " +"command term can be used to generate a target position for the robot to " +"navigate to." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandTerm:7 +msgid "" +"It implements a resampling mechanism that allows the command to be " +"resampled at a fixed frequency. The resampling frequency can be specified" +" in the configuration object. Additionally, it is possible to assign a " +"visualization function to the command term that can be used to visualize " +"the command in the simulator." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandTerm:1::1 +msgid ":py:obj:`command `\\" +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandTerm:1::1 +msgid "The command tensor." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandTerm:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.CommandTerm.has_debug_vis_implementation:1 +#: omni.isaac.lab.managers.command_manager.CommandTerm:1::1 +msgid "Whether the command generator has a debug visualization implemented." +msgstr "" + +#: of omni.isaac.lab.managers.CommandTerm.command:1::1 +msgid "" +":py:obj:`set_debug_vis " +"`\\ \\(debug\\_vis\\)" +msgstr "" + +#: of omni.isaac.lab.managers.CommandTerm.command:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.managers.CommandTerm.command:1::1 +#: omni.isaac.lab.managers.command_manager.CommandTerm.reset:1 +msgid "Reset the command generator and log metrics." +msgstr "" + +#: of omni.isaac.lab.managers.CommandTerm.command:1::1 +msgid ":py:obj:`compute `\\ \\(dt\\)" +msgstr "" + +#: of omni.isaac.lab.managers.CommandTerm.command:1::1 +#: omni.isaac.lab.managers.command_manager.CommandTerm.compute:1 +msgid "Compute the command." +msgstr "" + +#: of omni.isaac.lab.managers.CommandTerm.command:1 +msgid "The command tensor. Shape is (num_envs, command_dim)." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandTerm.reset:3 +msgid "" +"This function resets the command counter and resamples the command. It " +"should be called at the beginning of each episode." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandTerm.reset:8 +msgid "A dictionary containing the information to log under the \"{name}\" key." +msgstr "" + +#: of omni.isaac.lab.managers.command_manager.CommandTerm.compute:3 +msgid "The time step passed since the last call to compute." +msgstr "" + +#: of +#: omni.isaac.lab.managers.CommandTermCfg.resampling_time_range:1::1 +msgid "" +":py:obj:`resampling_time_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.managers.CommandTermCfg.resampling_time_range:1 +#: omni.isaac.lab.managers.CommandTermCfg.resampling_time_range:1::1 +msgid "Time before commands are changed [s]." +msgstr "" + +#: of +#: omni.isaac.lab.managers.CommandTermCfg.resampling_time_range:1::1 +msgid ":py:obj:`debug_vis `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:129 +msgid "Reward Manager" +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager:3 +msgid "" +"The reward manager computes the total reward as a sum of the weighted " +"reward terms. The reward terms are parsed from a nested config class " +"containing the reward manger's settings and reward terms configuration." +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager:7 +msgid "" +"The reward terms are parsed from a config class containing the manager's " +"settings and each term's parameters. Each reward term should instantiate " +"the :class:`RewardTermCfg` class." +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager:12 +msgid "" +"The reward manager multiplies the reward term's ``weight`` with the " +"time-step interval ``dt`` of the environment. This is done to ensure that" +" the computed reward terms are balanced with respect to the chosen time-" +"step interval in the environment." +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\, env\\)" +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager.__init__:1 +#: omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid "Initialize the reward manager." +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager.reset:1 +#: omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid "Returns the episodic sum of individual reward terms." +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid "" +":py:obj:`compute `\\ " +"\\(dt\\)" +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager.compute:1 +#: omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid "Computes the reward signal as a weighted sum of individual terms." +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid "" +":py:obj:`set_term_cfg " +"`\\ \\(term\\_name\\," +" cfg\\)" +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid "" +":py:obj:`get_term_cfg " +"`\\ \\(term\\_name\\)" +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager:1::1 +msgid "" +":py:obj:`find_terms `\\" +" \\(name\\_keys\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.reward_manager.RewardManager.__init__:1::1 +msgid "" +":py:obj:`active_terms " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.RewardManager.active_terms:1 +#: omni.isaac.lab.managers.reward_manager.RewardManager.__init__:1::1 +msgid "Name of active reward terms." +msgstr "" + +#: of +#: omni.isaac.lab.managers.reward_manager.RewardManager.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.reward_manager.RewardManager.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager.__init__:3 +msgid "The configuration object or dictionary (``dict[str, RewardTermCfg]``)." +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager.reset:3 +msgid "" +"The environment ids for which the episodic sum of individual reward terms" +" is to be returned. Defaults to all the environment ids." +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager.reset:6 +#: omni.isaac.lab.managers.termination_manager.TerminationManager.reset:6 +msgid "Dictionary of episodic sum of individual reward terms." +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager.compute:3 +msgid "" +"This function calls each reward term managed by the class and adds them " +"to compute the net reward signal. It also updates the episodic sums " +"corresponding to individual reward terms." +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager.compute:8 +msgid "The net reward signal of shape (num_envs,)." +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager.get_term_cfg:3 +#: omni.isaac.lab.managers.reward_manager.RewardManager.set_term_cfg:3 +msgid "The name of the reward term." +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager.set_term_cfg:4 +msgid "The configuration for the reward term." +msgstr "" + +#: of omni.isaac.lab.managers.reward_manager.RewardManager.get_term_cfg:5 +msgid "The configuration of the reward term." +msgstr "" + +#: of omni.isaac.lab.managers.RewardTermCfg.__new__:1::1 +msgid "" +":py:obj:`__new__ `\\ " +"\\(\\*\\*kwargs\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:140 +msgid "Termination Manager" +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager:3 +msgid "" +"The termination manager computes the termination signal (also called " +"dones) as a combination of termination terms. Each termination term is a " +"function which takes the environment as an argument and returns a boolean" +" tensor of shape (num_envs,). The termination manager computes the " +"termination signal as the union (logical or) of all the termination " +"terms." +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager:8 +msgid "" +"Following the `Gymnasium API " +"`_," +" the termination signal is computed as the logical OR of the following " +"signals:" +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager:11 +msgid "" +"**Time-out**: This signal is set to true if the environment has ended " +"after an externally defined condition (that is outside the scope of a " +"MDP). For example, the environment may be terminated if the episode has " +"timed out (i.e. reached max episode length)." +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager:14 +msgid "" +"**Terminated**: This signal is set to true if the environment has reached" +" a terminal state defined by the environment. This state may correspond " +"to task success, task failure, robot falling, etc." +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager:17 +msgid "" +"These signals can be individually accessed using the :attr:`time_outs` " +"and :attr:`terminated` properties." +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager:19 +msgid "" +"The termination terms are parsed from a config class containing the " +"manager's settings and each term's parameters. Each termination term " +"should instantiate the :class:`TerminationTermCfg` class. The term's " +"configuration :attr:`TerminationTermCfg.time_out` decides whether the " +"term is a timeout or a termination term." +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ \\(cfg\\, env\\)" +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "Initializes the termination manager." +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager.reset:1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "Returns the episodic counts of individual termination terms." +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "" +":py:obj:`compute `\\ " +"\\(\\)" +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager.compute:1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "Computes the termination signal as union of individual terms." +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "" +":py:obj:`get_term " +"`\\ \\(name\\)" +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term:1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "Returns the termination term with the specified name." +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "" +":py:obj:`set_term_cfg " +"`\\ " +"\\(term\\_name\\, cfg\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "" +":py:obj:`get_term_cfg " +"`\\ " +"\\(term\\_name\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager:1::1 +msgid "" +":py:obj:`find_terms " +"`\\ " +"\\(name\\_keys\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "" +":py:obj:`active_terms " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.TerminationManager.active_terms:1 +#: omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "Name of active termination terms." +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid ":py:obj:`dones `\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "The net termination signal." +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "" +":py:obj:`time_outs " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "The timeout signal (reaching max episode length)." +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "" +":py:obj:`terminated " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid "The terminated signal (reaching a terminal state)." +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager.__init__:3 +msgid "" +"The configuration object or dictionary (``dict[str, " +"TerminationTermCfg]``)." +msgstr "" + +#: of omni.isaac.lab.managers.TerminationManager.dones:1 +msgid "The net termination signal. Shape is (num_envs,)." +msgstr "" + +#: of omni.isaac.lab.managers.TerminationManager.time_outs:1 +msgid "The timeout signal (reaching max episode length). Shape is (num_envs,)." +msgstr "" + +#: of omni.isaac.lab.managers.TerminationManager.time_outs:3 +msgid "" +"This signal is set to true if the environment has ended after an " +"externally defined condition (that is outside the scope of a MDP). For " +"example, the environment may be terminated if the episode has timed out " +"(i.e. reached max episode length)." +msgstr "" + +#: of omni.isaac.lab.managers.TerminationManager.terminated:1 +msgid "The terminated signal (reaching a terminal state). Shape is (num_envs,)." +msgstr "" + +#: of omni.isaac.lab.managers.TerminationManager.terminated:3 +msgid "" +"This signal is set to true if the environment has reached a terminal " +"state defined by the environment. This state may correspond to task " +"success, task failure, robot falling, etc." +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager.compute:3 +msgid "" +"This function calls each termination term managed by the class and " +"performs a logical OR operation to compute the net termination signal." +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager.compute:6 +msgid "The combined termination signal of shape (num_envs,)." +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term:3 +#: omni.isaac.lab.managers.termination_manager.TerminationManager.get_term_cfg:3 +#: omni.isaac.lab.managers.termination_manager.TerminationManager.set_term_cfg:3 +msgid "The name of the termination term." +msgstr "" + +#: of omni.isaac.lab.managers.termination_manager.TerminationManager.get_term:5 +msgid "The corresponding termination term value. Shape is (num_envs,)." +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager.set_term_cfg:4 +msgid "The configuration for the termination term." +msgstr "" + +#: of +#: omni.isaac.lab.managers.termination_manager.TerminationManager.get_term_cfg:5 +msgid "The configuration of the termination term." +msgstr "" + +#: of omni.isaac.lab.managers.TerminationTermCfg.params:1::1 +msgid ":py:obj:`func `\\" +msgstr "" + +#: of omni.isaac.lab.managers.TerminationTermCfg.params:1::1 +msgid ":py:obj:`time_out `\\" +msgstr "" + +#: of omni.isaac.lab.managers.TerminationTermCfg.params:1::1 +msgid "Whether the termination term contributes towards episodic timeouts." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.TerminationTermCfg.func:3 +msgid "" +"This function should take the environment object and any other parameters" +" as input and return the termination signals as torch boolean tensors of " +"shape (num_envs,)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.TerminationTermCfg.time_out:1 +msgid "" +"Whether the termination term contributes towards episodic timeouts. " +"Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.TerminationTermCfg.time_out:3 +msgid "These usually correspond to tasks that have a fixed time limit." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.managers.rst:152 +msgid "Curriculum Manager" +msgstr "" + +#: of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:3 +msgid "" +"The curriculum manager updates various quantities of the environment " +"subject to a training curriculum by calling a list of terms. These help " +"stabilize learning by progressively making the learning tasks harder as " +"the agent improves." +msgstr "" + +#: of omni.isaac.lab.managers.curriculum_manager.CurriculumManager:7 +msgid "" +"The curriculum terms are parsed from a config class containing the " +"manager's settings and each term's parameters. Each curriculum term " +"should instantiate the :class:`CurriculumTermCfg` class." +msgstr "" + +#: of +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +msgid "" +":py:obj:`__init__ `\\" +" \\(cfg\\, env\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.reset:1 +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +msgid "Returns the current state of individual curriculum terms." +msgstr "" + +#: of +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +msgid "" +":py:obj:`compute `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.compute:1 +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +msgid "Update the curriculum terms." +msgstr "" + +#: of +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager:1::1 +msgid "" +":py:obj:`find_terms " +"`\\ " +"\\(name\\_keys\\)" +msgstr "" + +#: of +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:1::1 +msgid "" +":py:obj:`active_terms " +"`\\" +msgstr "" + +#: of omni.isaac.lab.managers.CurriculumManager.active_terms:1 +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:1::1 +msgid "Name of active curriculum terms." +msgstr "" + +#: of +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:3 +msgid "The configuration object or dictionary (``dict[str, CurriculumTermCfg]``)" +msgstr "" + +#: of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:6 +msgid "If curriculum term is not of type :class:`CurriculumTermCfg`." +msgstr "" + +#: of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.__init__:7 +msgid "If curriculum term configuration does not satisfy its function signature." +msgstr "" + +#: of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.reset:5 +msgid "" +"This function does not use the environment indices :attr:`env_ids` and " +"logs the state of all the terms. The argument is only present to maintain" +" consistency with other classes." +msgstr "" + +#: of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.reset:9 +msgid "Dictionary of curriculum terms and their states." +msgstr "" + +#: of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.compute:3 +msgid "This function calls each curriculum term managed by the class." +msgstr "" + +#: of omni.isaac.lab.managers.curriculum_manager.CurriculumManager.compute:5 +msgid "" +"The list of environment IDs to update. If None, all the environments are " +"updated. Defaults to None." +msgstr "" + +#: of omni.isaac.lab.managers.CurriculumTermCfg.func:1::1 +msgid ":py:obj:`func `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.managers.CurriculumTermCfg.func:3 +msgid "" +"This function should take the environment object, environment indices and" +" any other parameters as input and return the curriculum state for " +"logging purposes. If the function returns None, the curriculum state is " +"not logged." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.markers.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.markers.po new file mode 100644 index 0000000000..04a3e0287b --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.markers.po @@ -0,0 +1,406 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.markers.rst:2 +msgid "omni.isaac.lab.markers" +msgstr "" + +#: of omni.isaac.lab.markers:1 +msgid "" +"Sub-package for marker utilities to simplify creation of UI elements in " +"the GUI." +msgstr "" + +#: of omni.isaac.lab.markers:3 +msgid "Currently, the sub-package provides the following classes:" +msgstr "" + +#: of omni.isaac.lab.markers:5 +msgid "" +":class:`VisualizationMarkers` for creating a group of markers using " +"`UsdGeom.PointInstancer " +"`_." +msgstr "" + +#: of omni.isaac.lab.markers:11 +msgid "" +"For some simple use-cases, it may be sufficient to use the debug drawing " +"utilities from Isaac Sim. The debug drawing API is available in the " +"`omni.isaac.debug_drawing`_ module. It allows drawing of points and " +"splines efficiently on the UI." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.markers.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.markers.rst:11::1 +msgid "" +":py:obj:`VisualizationMarkers " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.markers.rst:11::1 of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1 +msgid "A class to coordinate groups of visual markers (loaded from USD)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.markers.rst:11::1 +msgid "" +":py:obj:`VisualizationMarkersCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.markers.rst:11::1 of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg:1 +msgid "A class to configure a :class:`VisualizationMarkers`." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.markers.rst:14 +msgid "Visualization Markers" +msgstr "" + +#: of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:3 +msgid "" +"This class allows visualization of different UI markers in the scene, " +"such as points and frames. The class wraps around the " +"`UsdGeom.PointInstancer`_ for efficient handling of objects in the stage " +"via instancing the created marker prototype prims." +msgstr "" + +#: of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:7 +msgid "" +"A marker prototype prim is a reusable template prim used for defining " +"variations of objects in the scene. For example, a sphere prim can be " +"used as a marker prototype prim to create multiple sphere prims in the " +"scene at different locations. Thus, prototype prims are useful for " +"creating multiple instances of the same prim in the scene." +msgstr "" + +#: of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:12 +msgid "" +"The class parses the configuration to create different the marker " +"prototypes into the stage. Each marker prototype prim is created as a " +"child of the :class:`UsdGeom.PointInstancer` prim. The prim path for the " +"the marker prim is resolved using the key of the marker in the " +":attr:`VisualizationMarkersCfg.markers` dictionary. The marker prototypes" +" are created using the :meth:`omni.isaac.core.utils.create_prim` " +"function, and then then instanced using :class:`UsdGeom.PointInstancer` " +"prim to allow creating multiple instances of the marker prims." +msgstr "" + +#: of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:19 +msgid "" +"Switching between different marker prototypes is possible by calling the " +":meth:`visualize` method with the prototype indices corresponding to the " +"marker prototype. The prototype indices are based on the order in the " +":attr:`VisualizationMarkersCfg.markers` dictionary. For example, if the " +"dictionary has two markers, \"marker1\" and \"marker2\", then their " +"prototype indices are 0 and 1 respectively. The prototype indices can be " +"passed as a list or array of integers." +msgstr "" + +#: of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:71 +msgid "Usage:" +msgstr "" + +#: of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:26 +msgid "" +"The following snippet shows how to create 24 sphere markers with a radius" +" of 1.0 at random translations within the range [-1.0, 1.0]. The first 12" +" markers will be colored red and the rest will be colored green." +msgstr "" + +#: of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1 +msgid "**Methods:**" +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ \\(cfg\\)" +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:1 +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid "Initialize the class." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid "" +":py:obj:`set_visibility " +"`\\ " +"\\(visible\\)" +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.set_visibility:1 +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid "Sets the visibility of the markers." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid "" +":py:obj:`is_visible " +"`\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.is_visible:1 +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid "Checks the visibility of the markers." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid "" +":py:obj:`visualize " +"`\\ " +"\\(\\[translations\\, orientations\\, ...\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:1 +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1::1 +msgid "Update markers in the viewport." +msgstr "" + +#: of omni.isaac.lab.markers.visualization_markers.VisualizationMarkers:1 +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkersCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:1::1 +msgid "" +":py:obj:`num_prototypes " +"`\\" +msgstr "" + +#: of omni.isaac.lab.markers.VisualizationMarkers.num_prototypes:1 +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:1::1 +msgid "The number of marker prototypes available." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:1::1 +msgid ":py:obj:`count `\\" +msgstr "" + +#: of omni.isaac.lab.markers.VisualizationMarkers.count:1 +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:1::1 +msgid "The total number of marker instances." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:3 +msgid "" +"When the class is initialized, the :class:`UsdGeom.PointInstancer` is " +"created into the stage and the marker prims are registered into it." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:7 +msgid "" +"If a prim already exists at the given path, the function will find the " +"next free path and create the :class:`UsdGeom.PointInstancer` prim there." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__ +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.set_visibility +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize +msgid "Parameters" +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:10 +msgid "The configuration for the markers." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__ +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize +msgid "Raises" +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.__init__:12 +msgid "When no markers are provided in the :obj:`cfg`." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.set_visibility:3 +msgid "The method does this through the USD API." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.set_visibility:5 +msgid "flag to set the visibility." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.is_visible +msgid "Returns" +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.is_visible:3 +msgid "True if the markers are visible, False otherwise." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:4 +msgid "" +"If the prim `PointInstancer` is hidden in the stage, the function will " +"simply return without updating the markers. This helps in unnecessary " +"computation when the markers are not visible." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:8 +msgid "" +"Whenever updating the markers, the input arrays must have the same number" +" of elements in the first dimension. If the number of elements is " +"different, the `UsdGeom.PointInstancer` will raise an error complaining " +"about the mismatch." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:12 +msgid "" +"Additionally, the function supports dynamic update of the markers. This " +"means that the number of markers can change between calls. For example, " +"if you have 24 points that you want to visualize, you can pass 24 " +"translations, orientations, and scales. If you want to visualize only 12 " +"points, you can pass 12 translations, orientations, and scales. The " +"function will automatically update the number of markers in the scene." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:18 +msgid "" +"The function will also update the marker prototypes based on their " +"prototype indices. For instance, if you have two marker prototypes, and " +"you pass the following marker indices: [0, 1, 0, 1], the function will " +"update the first and third markers with the first prototype, and the " +"second and fourth markers with the second prototype. This is useful when " +"you want to visualize different markers in the same scene. The list of " +"marker indices must have the same number of elements as the translations," +" orientations, or scales. If the number of elements is different, the " +"function will raise an error." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:26 +msgid "" +"This function will update all the markers instanced from the prototypes. " +"That means if you have 24 markers, you will need to pass 24 translations," +" orientations, and scales." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:29 +msgid "" +"If you want to update only a subset of the markers, you will need to " +"handle the indices yourself and pass the complete arrays to this " +"function." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:32 +msgid "" +"Translations w.r.t. parent prim frame. Shape is (M, 3). Defaults to None," +" which means left unchanged." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:34 +msgid "" +"Quaternion orientations (w, x, y, z) w.r.t. parent prim frame. Shape is " +"(M, 4). Defaults to None, which means left unchanged." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:36 +msgid "" +"Scale applied before any rotation is applied. Shape is (M, 3). Defaults " +"to None, which means left unchanged." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:38 +msgid "" +"Decides which marker prototype to visualize. Shape is (M). Defaults to " +"None, which means left unchanged provided that the total number of " +"markers is the same as the previous call. If the number of markers is " +"different, the function will update the number of markers in the scene." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:43 +msgid "When input arrays do not follow the expected shapes." +msgstr "" + +#: of +#: omni.isaac.lab.markers.visualization_markers.VisualizationMarkers.visualize:44 +msgid "When the function is called with all None arguments." +msgstr "" + +#: of +#: omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path:1::1 +msgid "" +":py:obj:`prim_path " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path:1 +#: omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path:1::1 +msgid "The prim path where the :class:`UsdGeom.PointInstancer` will be created." +msgstr "" + +#: of +#: omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path:1::1 +msgid "" +":py:obj:`markers " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.markers.VisualizationMarkersCfg.markers:1 +#: omni.isaac.lab.markers.VisualizationMarkersCfg.prim_path:1::1 +msgid "The dictionary of marker configurations." +msgstr "" + +#: ../../docstring of omni.isaac.lab.markers.VisualizationMarkersCfg.markers:3 +msgid "" +"The key is the name of the marker, and the value is the configuration of " +"the marker. The key is used to identify the marker in the class." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.scene.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.scene.po new file mode 100644 index 0000000000..b800e9c3b0 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.scene.po @@ -0,0 +1,541 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.scene.rst:2 +msgid "omni.isaac.lab.scene" +msgstr "" + +#: of omni.isaac.lab.scene:1 +msgid "Sub-package containing an interactive scene definition." +msgstr "" + +#: of omni.isaac.lab.scene:3 +msgid "" +"A scene is a collection of entities (e.g., terrain, articulations, " +"sensors, lights, etc.) that can be added to the simulation. However, only" +" a subset of these entities are of direct interest for the user to " +"interact with. For example, the user may want to interact with a robot in" +" the scene, but not with the terrain or the lights. For this reason, we " +"integrate the different entities into a single class called " +":class:`InteractiveScene`." +msgstr "" + +#: of omni.isaac.lab.scene:8 +msgid "The interactive scene performs the following tasks:" +msgstr "" + +#: of omni.isaac.lab.scene:10 +msgid "" +"It parses the configuration class :class:`InteractiveSceneCfg` to create " +"the scene. This configuration class is inherited by the user to add " +"entities to the scene." +msgstr "" + +#: of omni.isaac.lab.scene:12 +msgid "" +"It clones the entities based on the number of environments specified by " +"the user." +msgstr "" + +#: of omni.isaac.lab.scene:13 +msgid "" +"It clubs the entities into different groups based on their type (e.g., " +"articulations, sensors, etc.)." +msgstr "" + +#: of omni.isaac.lab.scene:14 +msgid "" +"It provides a set of methods to unify the common operations on the " +"entities in the scene (e.g., resetting internal buffers, writing buffers " +"to simulation and updating buffers from simulation)." +msgstr "" + +#: of omni.isaac.lab.scene:17 +msgid "" +"The interactive scene can be passed around to different modules in the " +"framework to perform different tasks. For instance, computing the " +"observations based on the state of the scene, or randomizing the scene, " +"or applying actions to the scene. All these are handled by different " +"\"managers\" in the framework. Please refer to the " +":mod:`omni.isaac.lab.managers` sub-package for more details." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.scene.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.scene.rst:11::1 +msgid ":py:obj:`InteractiveScene `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.scene.rst:11::1 of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene:1 +msgid "A scene that contains entities added to the simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.scene.rst:11::1 +msgid ":py:obj:`InteractiveSceneCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.scene.rst:11::1 of +#: omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg:1 +msgid "Configuration for the interactive scene." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.scene.rst:14 +msgid "interactive Scene" +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene:3 +msgid "" +"The interactive scene parses the :class:`InteractiveSceneCfg` class to " +"create the scene. Based on the specified number of environments, it " +"clones the entities and groups them into different categories (e.g., " +"articulations, sensors, etc.)." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene:7 +msgid "" +"Each entity is registered to scene based on its name in the configuration" +" class. For example, if the user specifies a robot in the configuration " +"class as follows:" +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene:22 +msgid "Then the robot can be accessed from the scene as follows:" +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene:37 +msgid "" +"It is important to note that the scene only performs common operations on" +" the entities. For example, resetting the internal buffers, writing the " +"buffers to the simulation and updating the buffers from the simulation. " +"The scene does not perform any task specific to the entity. For example, " +"it does not apply actions to the robot or compute observations from the " +"robot. These tasks are handled by different modules called \"managers\" " +"in the framework. Please refer to the :mod:`omni.isaac.lab.managers` sub-" +"package for more details." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1 +msgid "**Methods:**" +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "Initializes the scene." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "" +":py:obj:`clone_environments " +"`\\ " +"\\(\\[copy\\_from\\_source\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.clone_environments:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "Creates clones of the environment ``/World/envs/env_0``." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "" +":py:obj:`filter_collisions " +"`\\ " +"\\(\\[global\\_prim\\_paths\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.filter_collisions:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "Filter environments collisions." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene.reset:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "Resets the scene entities." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "" +":py:obj:`write_data_to_sim " +"`\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.write_data_to_sim:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "Writes the data of the scene entities to the simulation." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid ":py:obj:`update `\\ \\(dt\\)" +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene.update:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "Update the scene entities." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid ":py:obj:`keys `\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene.keys:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene:1::1 +msgid "Returns the keys of the scene entities." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene:1 +#: omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "" +":py:obj:`physics_scene_path " +"`\\" +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.physics_scene_path:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "Search the stage for the physics scene" +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`physics_dt `\\" +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.physics_dt:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "The physics timestep of the scene." +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.device:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "The device on which the scene is created." +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`env_ns `\\" +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.env_ns:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "The namespace ``/World/envs`` in which all environments created." +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "" +":py:obj:`env_regex_ns " +"`\\" +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.env_regex_ns:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "The namespace ``/World/envs/env_.*`` in which all environments created." +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.num_envs:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "The number of environments handled by the scene." +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "" +":py:obj:`env_origins " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "The origins of the environments in the scene." +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`terrain `\\" +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "The terrain in the scene." +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "" +":py:obj:`articulations " +"`\\" +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.articulations:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "A dictionary of articulations in the scene." +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "" +":py:obj:`rigid_objects " +"`\\" +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.rigid_objects:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "A dictionary of rigid objects in the scene." +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`sensors `\\" +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.sensors:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "" +"A dictionary of the sensors in the scene, such as cameras and contact " +"reporters." +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid ":py:obj:`extras `\\" +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.extras:1 +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:1::1 +msgid "" +"A dictionary of miscellaneous simulation objects that neither inherit " +"from assets nor sensors." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__ +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.clone_environments +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.filter_collisions +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.reset +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.update +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene.__init__:3 +msgid "The configuration class for the scene." +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.clone_environments:3 +msgid "" +"(bool): If set to False, clones inherit from /World/envs/env_0 and mirror" +" its changes." +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.filter_collisions:3 +msgid "" +"Disables collisions between the environments in ``/World/envs/env_.*`` " +"and enables collisions with the prims in global prim paths (e.g. ground " +"plane)." +msgstr "" + +#: of +#: omni.isaac.lab.scene.interactive_scene.InteractiveScene.filter_collisions:6 +msgid "The global prim paths to enable collisions with." +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.env_ns:3 +msgid "" +"The environments are present w.r.t. this namespace under \"env_{N}\" " +"prim, where N is a natural number." +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.env_origins:1 +msgid "The origins of the environments in the scene. Shape is (num_envs, 3)." +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.terrain:1 +msgid "The terrain in the scene. If None, then the scene has no terrain." +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.terrain:5 +msgid "" +"We treat terrain separate from :attr:`extras` since terrains define " +"environment origins and are handled differently from other miscellaneous " +"entities." +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.extras:3 +msgid "" +"The keys are the names of the miscellaneous objects, and the values are " +"the `XFormPrimView`_ of the corresponding prims." +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.extras:6 +msgid "" +"As an example, lights or other props in the scene that do not have any " +"attributes or properties that you want to alter at runtime can be added " +"to this dictionary." +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveScene.extras:11 +msgid "" +"These are not reset or updated by the scene. They are mainly other prims " +"that are not necessarily handled by the interactive scene, but are useful" +" to be accessed by the user." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene.reset:3 +msgid "" +"The indices of the environments to reset. Defaults to None (all " +"instances)." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene.update:3 +msgid "The amount of time passed from last :meth:`update` call." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene.keys +msgid "Returns" +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene.InteractiveScene.keys:3 +msgid "The keys of the scene entities." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg:3 +msgid "" +"The users can inherit from this class to add entities to their scene. " +"This is then parsed by the :class:`InteractiveScene` class to create the " +"scene." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg:7 +msgid "" +"The adding of entities to the scene is sensitive to the order of the " +"attributes in the configuration. Please make sure to add the entities in " +"the order you want them to be added to the scene. The recommended order " +"of specification is terrain, physics-related assets (articulations and " +"rigid bodies), sensors and non-physics-related assets (lights)." +msgstr "" + +#: of omni.isaac.lab.scene.interactive_scene_cfg.InteractiveSceneCfg:12 +msgid "" +"For example, to add a robot to the scene, the user can create a " +"configuration class as follows:" +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1 +#: omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +msgid "Number of environment instances handled by the scene." +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +msgid "" +":py:obj:`env_spacing " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.scene.InteractiveSceneCfg.env_spacing:1 +#: omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +msgid "Spacing between environments." +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +msgid "" +":py:obj:`lazy_sensor_update " +"`\\" +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +msgid "Whether to update sensors only when they are accessed." +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +msgid "" +":py:obj:`replicate_physics " +"`\\" +msgstr "" + +#: of omni.isaac.lab.scene.InteractiveSceneCfg.num_envs:1::1 +msgid "Enable/disable replication of physics schemas when using the Cloner APIs." +msgstr "" + +#: ../../docstring of omni.isaac.lab.scene.InteractiveSceneCfg.env_spacing:3 +msgid "" +"This is the default distance between environment origins in the scene. " +"Used only when the number of environments is greater than one." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.scene.InteractiveSceneCfg.lazy_sensor_update:1 +msgid "Whether to update sensors only when they are accessed. Default is True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.scene.InteractiveSceneCfg.lazy_sensor_update:3 +msgid "" +"If true, the sensor data is only updated when their attribute ``data`` is" +" accessed. Otherwise, the sensor data is updated every time sensors are " +"updated." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.scene.InteractiveSceneCfg.replicate_physics:1 +msgid "" +"Enable/disable replication of physics schemas when using the Cloner APIs." +" Default is True." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sensors.patterns.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sensors.patterns.po new file mode 100644 index 0000000000..1c7e4ddd98 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sensors.patterns.po @@ -0,0 +1,486 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:2 +msgid "omni.isaac.lab.sensors.patterns" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns:1 +msgid "Sub-module for ray-casting patterns used by the ray-caster." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +msgid "" +":py:obj:`PatternBaseCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.PatternBaseCfg:1 +msgid "Base configuration for a pattern." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +msgid "" +":py:obj:`GridPatternCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.GridPatternCfg:1 +msgid "Configuration for the grid pattern for ray-casting." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +msgid "" +":py:obj:`PinholeCameraPatternCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +#: of +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.PinholeCameraPatternCfg:1 +msgid "Configuration for a pinhole camera depth image pattern for ray-casting." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +msgid "" +":py:obj:`BpearlPatternCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:13::1 +#: of +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.BpearlPatternCfg:1 +msgid "Configuration for the Bpearl pattern for ray-casting." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:16 +msgid "Pattern Base" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.BpearlPatternCfg:1 +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.GridPatternCfg:1 +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.PatternBaseCfg:1 +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.PinholeCameraPatternCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: of omni.isaac.lab.sensors.patterns.PatternBaseCfg.func:1::1 +msgid ":py:obj:`func `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.PatternBaseCfg.func:1 +#: omni.isaac.lab.sensors.patterns.PatternBaseCfg.func:1::1 +msgid "Function to generate the pattern." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.PatternBaseCfg.func:3 +msgid "" +"The function should take in the configuration and the device name as " +"arguments. It should return the pattern's starting positions and " +"directions as a tuple of torch.Tensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:24 +msgid "Grid Pattern" +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:1 +msgid "A regular grid pattern for ray casting." +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:3 +msgid "" +"The grid pattern is made from rays that are parallel to each other. They " +"span a 2D grid in the sensor's local coordinates from ``(-length/2, " +"-width/2)`` to ``(length/2, width/2)``, which is defined by the ``size = " +"(length, width)`` and ``resolution`` parameters in the config." +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns.bpearl_pattern +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns.bpearl_pattern:8 +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:7 +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern:8 +msgid "The configuration instance for the pattern." +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns.bpearl_pattern:9 +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:8 +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern:10 +msgid "The device to create the pattern on." +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns.bpearl_pattern +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern +msgid "Returns" +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns.bpearl_pattern:11 +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:10 +msgid "The starting positions and directions of the rays." +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern +msgid "Raises" +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:12 +msgid "If the ordering is not \"xy\" or \"yx\"." +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns.grid_pattern:13 +msgid "If the resolution is less than or equal to 0." +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.GridPatternCfg:3 +msgid "Defines a 2D grid of rays in the coordinates of the sensor." +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns_cfg.GridPatternCfg:6 +msgid "The points are ordered based on the :attr:`ordering` attribute." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +msgid "" +":py:obj:`resolution " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1 +#: omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +msgid "Grid resolution (in meters)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +msgid ":py:obj:`size `\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +#: omni.isaac.lab.sensors.patterns.GridPatternCfg.size:1 +msgid "Grid size (length, width) (in meters)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +msgid "" +":py:obj:`direction " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +msgid "Ray direction." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +msgid "" +":py:obj:`ordering " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.GridPatternCfg.resolution:1::1 +msgid "Specifies the ordering of points in the generated grid." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.GridPatternCfg.direction:1 +msgid "Ray direction. Defaults to (0.0, 0.0, -1.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering:1 +msgid "" +"Specifies the ordering of points in the generated grid. Defaults to " +"``\"xy\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering:3 +msgid "" +"Consider a grid pattern with points at :math:`(x, y)` where :math:`x` and" +" :math:`y` are the grid indices. The ordering of the points can be " +"specified as \"xy\" or \"yx\". This determines the outer and inner loop " +"order when iterating over the grid points." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering:7 +msgid "" +"If *\"xy\"* is selected, the points are ordered with outer loop over " +"\"x\" and inner loop over \"y\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering:8 +msgid "" +"If *\"yx\"* is selected, the points are ordered with outer loop over " +"\"y\" and inner loop over \"x\"." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering:10 +msgid "" +"For example, the grid pattern points with :math:`X = (0, 1, 2)` and " +":math:`Y = (3, 4)`:" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering:12 +msgid "" +"*\"xy\"* ordering: :math:`[(0, 3), (0, 4), (1, 3), (1, 4), (2, 3), (2, " +"4)]`" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.GridPatternCfg.ordering:13 +msgid "" +"*\"yx\"* ordering: :math:`[(0, 3), (1, 3), (2, 3), (1, 4), (2, 4), (2, " +"4)]`" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:34 +msgid "Pinhole Camera Pattern" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern:1 +msgid "The image pattern for ray casting." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern:4 +msgid "" +"This function does not follow the standard pattern interface. It requires" +" the intrinsic matrices of the cameras to be passed in. This is because " +"we want to be able to randomize the intrinsic matrices of the cameras, " +"which is not possible with the standard pattern interface." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern:9 +msgid "The intrinsic matrices of the cameras. Shape is (N, 3, 3)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.patterns.patterns.pinhole_camera_pattern:12 +msgid "" +"The starting positions and directions of the rays. The shape of the " +"tensors are (N, H * W, 3) and (N, H * W, 3) respectively." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid "" +":py:obj:`focal_length " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid "Perspective focal length (in cm)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid "" +":py:obj:`horizontal_aperture " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid "Horizontal aperture (in mm)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid "" +":py:obj:`horizontal_aperture_offset " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid "Offsets Resolution/Film gate horizontally." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid "" +":py:obj:`vertical_aperture_offset " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid "Offsets Resolution/Film gate vertically." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid "" +":py:obj:`width " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.width:1 +msgid "Width of the image (in pixels)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +msgid "" +":py:obj:`height " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1::1 +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.height:1 +msgid "Height of the image (in pixels)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:1 +msgid "Perspective focal length (in cm). Defaults to 24.0cm." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.focal_length:3 +msgid "Longer lens lengths narrower FOV, shorter lens lengths wider FOV." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture:1 +msgid "Horizontal aperture (in mm). Defaults to 20.955mm." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture:3 +msgid "Emulates sensor/film width on a camera." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture:5 +msgid "" +"The default value is the horizontal aperture of a 35 mm spherical " +"projector." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.horizontal_aperture_offset:1 +msgid "Offsets Resolution/Film gate horizontally. Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.PinholeCameraPatternCfg.vertical_aperture_offset:1 +msgid "Offsets Resolution/Film gate vertically. Defaults to 0.0." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.patterns.rst:44 +msgid "RS-Bpearl Pattern" +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns.bpearl_pattern:1 +msgid "The RS-Bpearl pattern for ray casting." +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.patterns.patterns.bpearl_pattern:3 +msgid "" +"The `Robosense RS-Bpearl`_ is a short-range LiDAR that has a 360 degrees " +"x 90 degrees super wide field of view. It is designed for near-field " +"blind-spots detection." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov:1::1 +msgid "" +":py:obj:`horizontal_fov " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov:1::1 +msgid "Horizontal field of view (in degrees)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov:1::1 +msgid "" +":py:obj:`horizontal_res " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov:1::1 +msgid "Horizontal resolution (in degrees)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov:1::1 +msgid "" +":py:obj:`vertical_ray_angles " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov:1::1 +msgid "Vertical ray angles (in degrees)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_fov:1 +msgid "Horizontal field of view (in degrees). Defaults to 360.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.BpearlPatternCfg.horizontal_res:1 +msgid "Horizontal resolution (in degrees). Defaults to 10.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.BpearlPatternCfg.vertical_ray_angles:1 +msgid "Vertical ray angles (in degrees). Defaults to a list of 32 angles." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.patterns.BpearlPatternCfg.vertical_ray_angles:5 +msgid "" +"We manually set the vertical ray angles to match the Bpearl sensor. The " +"ray-angles are not evenly spaced." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sensors.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sensors.po new file mode 100644 index 0000000000..d456ba00fd --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sensors.po @@ -0,0 +1,3310 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:2 +msgid "omni.isaac.lab.sensors" +msgstr "" + +#: of omni.isaac.lab.sensors:1 +msgid "Sub-package containing various sensor classes implementations." +msgstr "" + +#: of omni.isaac.lab.sensors:3 +msgid "" +"This subpackage contains the sensor classes that are compatible with " +"Isaac Sim. We include both USD-based and custom sensors:" +msgstr "" + +#: of omni.isaac.lab.sensors:6 +msgid "" +"**USD-prim sensors**: Available in Omniverse and require creating a USD " +"prim for them. For instance, RTX ray tracing camera and lidar sensors." +msgstr "" + +#: of omni.isaac.lab.sensors:8 +msgid "" +"**USD-schema sensors**: Available in Omniverse and require creating a USD" +" schema on an existing prim. For instance, contact sensors and frame " +"transformers." +msgstr "" + +#: of omni.isaac.lab.sensors:10 +msgid "" +"**Custom sensors**: Implemented in Python and do not require creating any" +" USD prim or schema. For instance, warp-based ray-casters." +msgstr "" + +#: of omni.isaac.lab.sensors:13 +msgid "" +"Due to the above categorization, the prim paths passed to the sensor's " +"configuration class are interpreted differently based on the sensor type." +" The following table summarizes the interpretation of the prim paths for " +"different sensor types:" +msgstr "" + +#: of omni.isaac.lab.sensors:18 +msgid "Sensor Type" +msgstr "" + +#: of omni.isaac.lab.sensors:18 +msgid "Example Prim Path" +msgstr "" + +#: of omni.isaac.lab.sensors:18 +msgid "Pre-check" +msgstr "" + +#: of omni.isaac.lab.sensors:20 +msgid "Camera" +msgstr "" + +#: of omni.isaac.lab.sensors:20 +msgid "/World/robot/base/camera" +msgstr "" + +#: of omni.isaac.lab.sensors:20 +msgid "Leaf is available, and it will spawn a USD camera" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:79 of +#: omni.isaac.lab.sensors:22 +msgid "Contact Sensor" +msgstr "" + +#: of omni.isaac.lab.sensors:22 +msgid "/World/robot/feet_*" +msgstr "" + +#: of omni.isaac.lab.sensors:22 +msgid "Leaf is available and checks if the schema exists" +msgstr "" + +#: of omni.isaac.lab.sensors:24 +msgid "Ray Caster" +msgstr "" + +#: of omni.isaac.lab.sensors:24 omni.isaac.lab.sensors:26 +msgid "/World/robot/base" +msgstr "" + +#: of omni.isaac.lab.sensors:24 omni.isaac.lab.sensors:26 +msgid "Leaf exists and is a physics body (Articulation / Rigid Body)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:98 of +#: omni.isaac.lab.sensors:26 +msgid "Frame Transformer" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:7 +msgid "Submodules" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:11::1 +msgid ":py:obj:`patterns `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:11::1 +msgid "Sub-module for ray-casting patterns used by the ray-caster." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:13 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`SensorBase `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.sensor_base.SensorBase:1 +msgid "The base class for implementing a sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`SensorBaseCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.sensor_base_cfg.SensorBaseCfg:1 +msgid "Configuration parameters for a sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`Camera `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.camera.camera.Camera:1 +msgid "The camera sensor for acquiring visual data." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`CameraData `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.camera.camera_data.CameraData:1 +msgid "Data container for the camera sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`CameraCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg:1 +msgid "Configuration for a camera sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`TiledCamera `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1 +msgid "The tiled rendering based camera sensor for acquiring RGB and depth data." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`TiledCameraCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg:1 +msgid "Configuration for a tiled rendering-based camera sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`ContactSensor `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1 +msgid "A contact reporting sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`ContactSensorData `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor_data.ContactSensorData:1 +msgid "Data container for the contact reporting sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`ContactSensorCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor_cfg.ContactSensorCfg:1 +msgid "Configuration for the contact sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`FrameTransformer `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1 +msgid "A sensor for reporting frame transforms." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid "" +":py:obj:`FrameTransformerData " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_data.FrameTransformerData:1 +msgid "Data container for the frame transformer sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid "" +":py:obj:`FrameTransformerCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg:1 +msgid "Configuration for the frame transformer sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`RayCaster `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1 +msgid "A ray-casting sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`RayCasterData `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_data.RayCasterData:1 +msgid "Data container for the ray-cast sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`RayCasterCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg:1 +msgid "Configuration for the ray-cast sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`RayCasterCamera `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1 +msgid "A ray-casting camera sensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:33::1 +msgid ":py:obj:`RayCasterCameraCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:36 +msgid "Sensor Base" +msgstr "" + +#: of omni.isaac.lab.sensors.sensor_base.SensorBase:3 +msgid "" +"The implementation is based on lazy evaluation. The sensor data is only " +"updated when the user tries accessing the data through the :attr:`data` " +"property or sets ``force_compute=True`` in the :meth:`update` method. " +"This is done to avoid unnecessary computation when the sensor data is not" +" used." +msgstr "" + +#: of omni.isaac.lab.sensors.sensor_base.SensorBase:8 +msgid "" +"The sensor is updated at the specified update period. If the update " +"period is zero, then the sensor is updated at every simulation step." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1 +#: omni.isaac.lab.sensors.sensor_base.SensorBase:1 +msgid "**Methods:**" +msgstr "" + +#: of omni.isaac.lab.sensors.sensor_base.SensorBase:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1 +#: omni.isaac.lab.sensors.sensor_base.SensorBase:1::1 +msgid "Initialize the sensor class." +msgstr "" + +#: of omni.isaac.lab.sensors.sensor_base.SensorBase:1::1 +msgid "" +":py:obj:`set_debug_vis " +"`\\ \\(debug\\_vis\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.cfg:1::1 +#: omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +#: omni.isaac.lab.sensors.FrameTransformer.cfg:1::1 +#: omni.isaac.lab.sensors.RayCaster.cfg:1::1 +#: omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +#: omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +#: omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:1 +#: omni.isaac.lab.sensors.sensor_base.SensorBase:1::1 +msgid "Sets whether to visualize the sensor data." +msgstr "" + +#: of omni.isaac.lab.sensors.sensor_base.SensorBase:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.cfg:1::1 +#: omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +#: omni.isaac.lab.sensors.FrameTransformer.cfg:1::1 +#: omni.isaac.lab.sensors.RayCaster.cfg:1::1 +#: omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +#: omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +#: omni.isaac.lab.sensors.camera.camera.Camera.reset:1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.reset:1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.reset:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer.reset:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster.reset:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.reset:1 +#: omni.isaac.lab.sensors.sensor_base.SensorBase.reset:1 +#: omni.isaac.lab.sensors.sensor_base.SensorBase:1::1 +msgid "Resets the sensor internals." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:1 +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg:1 +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1 +#: omni.isaac.lab.sensors.camera.camera_data.CameraData:1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1 +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg:1 +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor_cfg.ContactSensorCfg:1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor_data.ContactSensorData:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.OffsetCfg:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_data.FrameTransformerData:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_data.RayCasterData:1 +#: omni.isaac.lab.sensors.sensor_base.SensorBase:1 +#: omni.isaac.lab.sensors.sensor_base_cfg.SensorBaseCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid "" +":py:obj:`is_initialized " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.is_initialized:1 +#: omni.isaac.lab.sensors.ContactSensor.is_initialized:1 +#: omni.isaac.lab.sensors.FrameTransformer.is_initialized:1 +#: omni.isaac.lab.sensors.RayCaster.is_initialized:1 +#: omni.isaac.lab.sensors.RayCasterCamera.is_initialized:1 +#: omni.isaac.lab.sensors.SensorBase.is_initialized:1 +#: omni.isaac.lab.sensors.TiledCamera.is_initialized:1 +#: omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +#: omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid "Whether the sensor is initialized." +msgstr "" + +#: of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid "" +":py:obj:`num_instances " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.num_instances:1 +#: omni.isaac.lab.sensors.ContactSensor.num_instances:1 +#: omni.isaac.lab.sensors.FrameTransformer.num_instances:1 +#: omni.isaac.lab.sensors.RayCaster.num_instances:1 +#: omni.isaac.lab.sensors.RayCasterCamera.num_instances:1 +#: omni.isaac.lab.sensors.SensorBase.num_instances:1 +#: omni.isaac.lab.sensors.TiledCamera.num_instances:1 +#: omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +#: omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid "Number of instances of the sensor." +msgstr "" + +#: of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.device:1 +#: omni.isaac.lab.sensors.ContactSensor.device:1 +#: omni.isaac.lab.sensors.FrameTransformer.device:1 +#: omni.isaac.lab.sensors.RayCaster.device:1 +#: omni.isaac.lab.sensors.RayCasterCamera.device:1 +#: omni.isaac.lab.sensors.SensorBase.device:1 +#: omni.isaac.lab.sensors.TiledCamera.device:1 +#: omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +#: omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid "Memory device for computation." +msgstr "" + +#: of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.data:1 +#: omni.isaac.lab.sensors.ContactSensor.data:1 +#: omni.isaac.lab.sensors.FrameTransformer.data:1 +#: omni.isaac.lab.sensors.RayCaster.data:1 +#: omni.isaac.lab.sensors.RayCasterCamera.data:1 +#: omni.isaac.lab.sensors.SensorBase.data:1 +#: omni.isaac.lab.sensors.TiledCamera.data:1 +#: omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +#: omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid "Data from the sensor." +msgstr "" + +#: of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.has_debug_vis_implementation:1 +#: omni.isaac.lab.sensors.ContactSensor.has_debug_vis_implementation:1 +#: omni.isaac.lab.sensors.FrameTransformer.has_debug_vis_implementation:1 +#: omni.isaac.lab.sensors.RayCaster.has_debug_vis_implementation:1 +#: omni.isaac.lab.sensors.RayCasterCamera.has_debug_vis_implementation:1 +#: omni.isaac.lab.sensors.SensorBase.has_debug_vis_implementation:1 +#: omni.isaac.lab.sensors.TiledCamera.has_debug_vis_implementation:1 +#: omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +#: omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:1::1 +msgid "Whether the sensor has a debug visualization implemented." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.__init__ +#: omni.isaac.lab.sensors.camera.camera.Camera.reset +#: omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices +#: omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses +#: omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.__init__ +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.reset +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.__init__ +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.find_bodies +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.reset +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer.__init__ +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer.reset +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster.__init__ +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster.reset +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.__init__ +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.reset +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_intrinsic_matrices +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view +#: omni.isaac.lab.sensors.sensor_base.SensorBase.__init__ +#: omni.isaac.lab.sensors.sensor_base.SensorBase.reset +#: omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.sensors.sensor_base.SensorBase.__init__:3 +msgid "The configuration parameters for the sensor." +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.is_initialized:3 +#: omni.isaac.lab.sensors.ContactSensor.is_initialized:3 +#: omni.isaac.lab.sensors.FrameTransformer.is_initialized:3 +#: omni.isaac.lab.sensors.RayCaster.is_initialized:3 +#: omni.isaac.lab.sensors.RayCasterCamera.is_initialized:3 +#: omni.isaac.lab.sensors.SensorBase.is_initialized:3 +#: omni.isaac.lab.sensors.TiledCamera.is_initialized:3 +msgid "Returns True if the sensor is initialized, False otherwise." +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.num_instances:3 +#: omni.isaac.lab.sensors.ContactSensor.num_instances:3 +#: omni.isaac.lab.sensors.FrameTransformer.num_instances:3 +#: omni.isaac.lab.sensors.RayCaster.num_instances:3 +#: omni.isaac.lab.sensors.RayCasterCamera.num_instances:3 +#: omni.isaac.lab.sensors.SensorBase.num_instances:3 +#: omni.isaac.lab.sensors.TiledCamera.num_instances:3 +msgid "" +"This is equal to the number of sensors per environment multiplied by the " +"number of environments." +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.data:3 +#: omni.isaac.lab.sensors.ContactSensor.data:3 +#: omni.isaac.lab.sensors.FrameTransformer.data:3 +#: omni.isaac.lab.sensors.RayCaster.data:3 +#: omni.isaac.lab.sensors.RayCasterCamera.data:3 +#: omni.isaac.lab.sensors.SensorBase.data:3 +#: omni.isaac.lab.sensors.TiledCamera.data:3 +msgid "" +"This property is only updated when the user tries to access the data. " +"This is done to avoid unnecessary computation when the sensor data is not" +" used." +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.data:6 +#: omni.isaac.lab.sensors.ContactSensor.data:6 +#: omni.isaac.lab.sensors.FrameTransformer.data:6 +#: omni.isaac.lab.sensors.RayCaster.data:6 +#: omni.isaac.lab.sensors.RayCasterCamera.data:6 +#: omni.isaac.lab.sensors.SensorBase.data:6 +#: omni.isaac.lab.sensors.TiledCamera.data:6 +msgid "" +"For updating the sensor when this property is accessed, you can use the " +"following code snippet in your sensor implementation:" +msgstr "" + +#: of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:3 +msgid "Whether to visualize the sensor data." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.find_bodies +#: omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis +msgid "Returns" +msgstr "" + +#: of omni.isaac.lab.sensors.sensor_base.SensorBase.set_debug_vis:5 +msgid "" +"Whether the debug visualization was successfully set. False if the sensor" +" does not support debug visualization." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.reset:3 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.reset:3 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.reset:3 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer.reset:3 +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster.reset:3 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.reset:3 +#: omni.isaac.lab.sensors.sensor_base.SensorBase.reset:3 +msgid "The sensor ids to reset. Defaults to None." +msgstr "" + +#: of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +msgid ":py:obj:`prim_path `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.prim_path:1 +#: omni.isaac.lab.sensors.ContactSensorCfg.prim_path:1 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.prim_path:1 +#: omni.isaac.lab.sensors.RayCasterCfg.prim_path:1 +#: omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1 +#: omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +#: omni.isaac.lab.sensors.TiledCameraCfg.prim_path:1 +msgid "Prim path (or expression) to the sensor." +msgstr "" + +#: of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +msgid "" +":py:obj:`update_period " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +msgid "Update period of the sensor buffers (in seconds)." +msgstr "" + +#: of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +msgid "" +":py:obj:`history_length " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +msgid "Number of past frames to store in the sensor buffers." +msgstr "" + +#: of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +msgid ":py:obj:`debug_vis `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.SensorBaseCfg.prim_path:1::1 +msgid "Whether to visualize the sensor." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.prim_path:4 +#: omni.isaac.lab.sensors.ContactSensorCfg.prim_path:4 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.prim_path:4 +#: omni.isaac.lab.sensors.RayCasterCfg.prim_path:4 +#: omni.isaac.lab.sensors.SensorBaseCfg.prim_path:4 +#: omni.isaac.lab.sensors.TiledCameraCfg.prim_path:4 +msgid "" +"The expression can contain the environment namespace regex " +"``{ENV_REGEX_NS}`` which will be replaced with the environment namespace." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.prim_path:7 +#: omni.isaac.lab.sensors.ContactSensorCfg.prim_path:7 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.prim_path:7 +#: omni.isaac.lab.sensors.RayCasterCfg.prim_path:7 +#: omni.isaac.lab.sensors.SensorBaseCfg.prim_path:7 +#: omni.isaac.lab.sensors.TiledCameraCfg.prim_path:7 +msgid "" +"Example: ``{ENV_REGEX_NS}/Robot/sensor`` will be replaced with " +"``/World/envs/env_.*/Robot/sensor``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.update_period:1 +#: omni.isaac.lab.sensors.ContactSensorCfg.update_period:1 +#: omni.isaac.lab.sensors.FrameTransformerCfg.update_period:1 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.update_period:1 +#: omni.isaac.lab.sensors.RayCasterCfg.update_period:1 +#: omni.isaac.lab.sensors.SensorBaseCfg.update_period:1 +#: omni.isaac.lab.sensors.TiledCameraCfg.update_period:1 +msgid "" +"Update period of the sensor buffers (in seconds). Defaults to 0.0 (update" +" every step)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.history_length:1 +#: omni.isaac.lab.sensors.ContactSensorCfg.history_length:1 +#: omni.isaac.lab.sensors.FrameTransformerCfg.history_length:1 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.history_length:1 +#: omni.isaac.lab.sensors.RayCasterCfg.history_length:1 +#: omni.isaac.lab.sensors.SensorBaseCfg.history_length:1 +#: omni.isaac.lab.sensors.TiledCameraCfg.history_length:1 +msgid "" +"Number of past frames to store in the sensor buffers. Defaults to 0, " +"which means that only the current data is stored (no history)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.debug_vis:1 +#: omni.isaac.lab.sensors.ContactSensorCfg.debug_vis:1 +#: omni.isaac.lab.sensors.FrameTransformerCfg.debug_vis:1 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.debug_vis:1 +#: omni.isaac.lab.sensors.RayCasterCfg.debug_vis:1 +#: omni.isaac.lab.sensors.SensorBaseCfg.debug_vis:1 +#: omni.isaac.lab.sensors.TiledCameraCfg.debug_vis:1 +msgid "Whether to visualize the sensor. Defaults to False." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:46 +msgid "USD Camera" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sensors.sensor_base.SensorBase`" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:3 +msgid "" +"This class wraps over the `UsdGeom Camera`_ for providing a consistent " +"API for acquiring visual data. It ensures that the camera follows the ROS" +" convention for the coordinate system." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:6 +msgid "" +"Summarizing from the `replicator extension`_, the following sensor types " +"are supported:" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:8 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:10 +msgid "``\"rgb\"``: A rendered color image." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:9 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:12 +msgid "" +"``\"distance_to_camera\"``: An image containing the distance to camera " +"optical center." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:10 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:13 +msgid "" +"``\"distance_to_image_plane\"``: An image containing distances of 3D " +"points from camera plane along camera's z-axis." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:11 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:14 +msgid "" +"``\"normals\"``: An image containing the local surface normal vectors at " +"each pixel." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:12 +msgid "" +"``\"motion_vectors\"``: An image containing the motion vector data at " +"each pixel." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:13 +msgid "``\"semantic_segmentation\"``: The semantic segmentation data." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:14 +msgid "``\"instance_segmentation_fast\"``: The instance segmentation data." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:15 +msgid "``\"instance_id_segmentation_fast\"``: The instance id segmentation data." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:18 +msgid "" +"Currently the following sensor types are not supported in a \"view\" " +"format:" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:20 +msgid "" +"``\"instance_segmentation\"``: The instance segmentation data. Please use" +" the fast counterparts instead." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:21 +msgid "" +"``\"instance_id_segmentation\"``: The instance id segmentation data. " +"Please use the fast counterparts instead." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:22 +msgid "" +"``\"bounding_box_2d_tight\"``: The tight 2D bounding box data (only " +"contains non-occluded regions)." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:23 +msgid "" +"``\"bounding_box_2d_tight_fast\"``: The tight 2D bounding box data (only " +"contains non-occluded regions)." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:24 +msgid "" +"``\"bounding_box_2d_loose\"``: The loose 2D bounding box data (contains " +"occluded regions)." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:25 +msgid "" +"``\"bounding_box_2d_loose_fast\"``: The loose 2D bounding box data " +"(contains occluded regions)." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:26 +msgid "``\"bounding_box_3d\"``: The 3D view space bounding box data." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:27 +msgid "``\"bounding_box_3d_fast\"``: The 3D view space bounding box data." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.Camera.cfg:1 +#: omni.isaac.lab.sensors.ContactSensor.cfg:1 +#: omni.isaac.lab.sensors.FrameTransformer.cfg:1 +#: omni.isaac.lab.sensors.RayCaster.cfg:1 +#: omni.isaac.lab.sensors.RayCasterCamera.cfg:1 +#: omni.isaac.lab.sensors.TiledCamera.cfg:1 +#: omni.isaac.lab.sensors.camera.camera.Camera.__init__:3 +#: omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.__init__:3 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.__init__:3 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer.__init__:3 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster.__init__:3 +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.__init__:3 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid "The configuration parameters." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid "" +":py:obj:`UNSUPPORTED_TYPES " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.Camera.UNSUPPORTED_TYPES:1 +#: omni.isaac.lab.sensors.TiledCamera.UNSUPPORTED_TYPES:1 +#: omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid "The set of sensor types that are not supported by the camera class." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`num_instances `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`frame `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.frame:1 +#: omni.isaac.lab.sensors.RayCasterCamera.frame:1 +#: omni.isaac.lab.sensors.TiledCamera.frame:1 +#: omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid "Frame number when the measurement took place." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid "" +":py:obj:`render_product_paths " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.render_product_paths:1 +#: omni.isaac.lab.sensors.TiledCamera.render_product_paths:1 +#: omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid "The path of the render products for the cameras." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`image_shape `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.Camera.image_shape:1 +#: omni.isaac.lab.sensors.CameraData.image_shape:1 +#: omni.isaac.lab.sensors.CameraData.pos_w:1::1 +#: omni.isaac.lab.sensors.RayCasterCamera.image_shape:1 +#: omni.isaac.lab.sensors.TiledCamera.image_shape:1 +#: omni.isaac.lab.sensors.camera.camera.Camera:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid "A tuple containing (height, width) of the camera sensor." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera:1::1 +msgid ":py:obj:`is_initialized `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.cfg:1::1 +#: omni.isaac.lab.sensors.camera.camera.Camera.__init__:1 +msgid "Initializes the camera sensor." +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.cfg:1::1 +msgid "" +":py:obj:`set_intrinsic_matrices " +"`\\ " +"\\(matrices\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.cfg:1::1 +#: omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +#: omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:1 +msgid "Set parameters of the USD camera from its intrinsic matrix." +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.cfg:1::1 +msgid "" +":py:obj:`set_world_poses " +"`\\ \\(\\[positions\\, " +"orientations\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.cfg:1::1 +#: omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +#: omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +msgid "Set the pose of the camera w.r.t." +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.cfg:1::1 +msgid "" +":py:obj:`set_world_poses_from_view " +"`\\ \\(eyes\\, " +"targets\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.cfg:1::1 +#: omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +#: omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +#: omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view:1 +msgid "" +"Set the poses of the camera from the eye position and look-at target " +"position." +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.cfg:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.cfg:1::1 +msgid "" +":py:obj:`set_debug_vis `\\ " +"\\(debug\\_vis\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.__init__ +#: omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses +#: omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.__init__ +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.__init__ +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view +msgid "Raises" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.__init__:5 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.__init__:5 +msgid "If no camera prim is found at the given path." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.__init__:6 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.__init__:6 +msgid "If the provided data types are not supported by the camera." +msgstr "" + +#: of omni.isaac.lab.sensors.Camera.render_product_paths:3 +#: omni.isaac.lab.sensors.TiledCamera.render_product_paths:3 +msgid "" +"This can be used via replicator interfaces to attach to writes or " +"external annotator registry." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:3 +msgid "" +"The intrinsic matrix and focal length are used to set the following " +"parameters to the USD camera:" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:5 +msgid "``focal_length``: The focal length of the camera." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:6 +msgid "``horizontal_aperture``: The horizontal aperture of the camera." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:7 +msgid "``vertical_aperture``: The vertical aperture of the camera." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:8 +msgid "``horizontal_aperture_offset``: The horizontal offset of the camera." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:9 +msgid "``vertical_aperture_offset``: The vertical offset of the camera." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:13 +msgid "" +"Due to limitations of Omniverse camera, we need to assume that the camera" +" is a spherical lens, i.e. has square pixels, and the optical center is " +"centered at the camera eye. If this assumption is not true in the input " +"intrinsic matrix, then the camera will not set up correctly." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:17 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_intrinsic_matrices:3 +msgid "The intrinsic matrices for the camera. Shape is (N, 3, 3)." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:18 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_intrinsic_matrices:4 +msgid "Focal length to use when computing aperture values. Defaults to 1.0." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_intrinsic_matrices:19 +#: omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:17 +#: omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:5 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_intrinsic_matrices:5 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:17 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view:5 +msgid "" +"A sensor ids to manipulate. Defaults to None, which means all sensor " +"indices." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:1 +msgid "" +"Set the pose of the camera w.r.t. the world frame using specified " +"convention." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:3 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:3 +msgid "" +"Since different fields use different conventions for camera orientations," +" the method allows users to set the camera poses in the specified " +"convention. Possible conventions are:" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:6 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:6 +msgid "" +":obj:`\"opengl\"` - forward axis: -Z - up axis +Y - Offset is applied in " +"the OpenGL (Usd.Camera) convention" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:7 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:7 +msgid "" +":obj:`\"ros\"` - forward axis: +Z - up axis -Y - Offset is applied in " +"the ROS convention" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:8 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:8 +msgid "" +":obj:`\"world\"` - forward axis: +X - up axis +Z - Offset is applied in " +"the World Frame convention" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:10 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:10 +msgid "" +"See " +":meth:`omni.isaac.lab.sensors.camera.utils.convert_orientation_convention`" +" for more details on the conventions." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:13 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:13 +msgid "" +"The cartesian coordinates (in meters). Shape is (N, 3). Defaults to None," +" in which case the camera position in not changed." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:15 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:15 +msgid "" +"The quaternion orientation in (w, x, y, z). Shape is (N, 4). Defaults to " +"None, in which case the camera orientation in not changed." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:18 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:18 +msgid "The convention in which the poses are fed. Defaults to \"ros\"." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses:20 +#: omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:7 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses:20 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view:7 +msgid "" +"If the camera prim is not set. Need to call :meth:`initialize` method " +"first." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:3 +msgid "The positions of the camera's eye. Shape is (N, 3)." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:4 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view:4 +msgid "The target locations to look at. Shape is (N, 3)." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera.Camera.set_world_poses_from_view:8 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view:8 +msgid "If the stage up-axis is not \"Y\" or \"Z\"." +msgstr "" + +#: of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid ":py:obj:`pos_w `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.pos_w:1 +#: omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid "Position of the sensor origin in world frame, following ROS convention." +msgstr "" + +#: of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid ":py:obj:`quat_w_world `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +#: omni.isaac.lab.sensors.CameraData.quat_w_world:1 +msgid "" +"Quaternion orientation `(w, x, y, z)` of the sensor origin in world " +"frame, following the world coordinate frame" +msgstr "" + +#: of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid ":py:obj:`image_shape `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid "" +":py:obj:`intrinsic_matrices " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.intrinsic_matrices:1 +#: omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid "The intrinsic matrices for the camera." +msgstr "" + +#: of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid ":py:obj:`output `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.output:1 +#: omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid "The retrieved sensor data with sensor types as key." +msgstr "" + +#: of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid ":py:obj:`info `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.info:1 +#: omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid "The retrieved sensor info with sensor types as key." +msgstr "" + +#: of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid ":py:obj:`quat_w_ros `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +#: omni.isaac.lab.sensors.CameraData.quat_w_ros:1 +msgid "" +"Quaternion orientation `(w, x, y, z)` of the sensor origin in the world " +"frame, following ROS convention." +msgstr "" + +#: of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +msgid "" +":py:obj:`quat_w_opengl " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.CameraData.pos_w:1::1 +#: omni.isaac.lab.sensors.CameraData.quat_w_opengl:1 +msgid "" +"Quaternion orientation `(w, x, y, z)` of the sensor origin in the world " +"frame, following Opengl / USD Camera convention." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.pos_w:3 +msgid "Shape is (N, 3) where N is the number of sensors." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.quat_w_world:4 +msgid "" +"World frame convention follows the camera aligned with forward axis +X " +"and up axis +Z." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.quat_w_opengl:7 +#: omni.isaac.lab.sensors.CameraData.quat_w_ros:6 +#: omni.isaac.lab.sensors.CameraData.quat_w_world:6 +msgid "Shape is (N, 4) where N is the number of sensors." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.intrinsic_matrices:3 +msgid "Shape is (N, 3, 3) where N is the number of sensors." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.output:3 +msgid "" +"The format of the data is available in the `Replicator Documentation`_. " +"For semantic-based data, this corresponds to the ``\"data\"`` key in the " +"output of the sensor." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraData.info:3 +msgid "" +"This contains extra information provided by the sensor such as semantic " +"segmentation label mapping, prim paths. For semantic-based data, this " +"corresponds to the ``\"info\"`` key in the output of the sensor. For " +"other sensor types, the info is empty." +msgstr "" + +#: of omni.isaac.lab.sensors.CameraData.quat_w_ros:4 +msgid "" +"ROS convention follows the camera aligned with forward axis +Z and up " +"axis -Y." +msgstr "" + +#: of omni.isaac.lab.sensors.CameraData.quat_w_opengl:5 +msgid "" +"OpenGL convention follows the camera aligned with forward axis -Z and up " +"axis +Y." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg:1 +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg:1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor_cfg.ContactSensorCfg:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sensors.sensor_base_cfg.SensorBaseCfg`" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg:1 +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg:1 +msgid "**Classes:**" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg:1::1 +msgid ":py:obj:`OffsetCfg `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1 +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1 +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg:1::1 +msgid "The offset pose of the sensor's frame from the sensor's parent frame." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`offset `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`spawn `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.spawn:1 +#: omni.isaac.lab.sensors.TiledCameraCfg.spawn:1 +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid "Spawn configuration for the asset." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`data_types `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg:1::1 +msgid "List of sensor names/types to enable for the camera." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`width `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.width:1 +#: omni.isaac.lab.sensors.TiledCameraCfg.width:1 +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid "Width of the image in pixels." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`height `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.height:1 +#: omni.isaac.lab.sensors.TiledCameraCfg.height:1 +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid "Height of the image in pixels." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid "" +":py:obj:`semantic_filter " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid "A string or a list specifying a semantic filter predicate." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid "" +":py:obj:`colorize_semantic_segmentation " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid "Whether to colorize the semantic segmentation images." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid "" +":py:obj:`colorize_instance_id_segmentation " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid "Whether to colorize the instance ID segmentation images." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1::1 +msgid "" +":py:obj:`colorize_instance_segmentation " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.camera_cfg.CameraCfg.OffsetCfg:1 +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`pos `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos:1::1 +#: omni.isaac.lab.sensors.OffsetCfg.pos:1::1 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos:1::1 +#: omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos:1::1 +#: omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos:1::1 +msgid "Translation w.r.t." +msgstr "" + +#: of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`rot `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos:1::1 +#: omni.isaac.lab.sensors.OffsetCfg.pos:1::1 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos:1::1 +#: omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos:1::1 +#: omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos:1::1 +msgid "Quaternion rotation (w, x, y, z) w.r.t." +msgstr "" + +#: of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos:1::1 +msgid "" +":py:obj:`convention " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos:1::1 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos:1::1 +#: omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos:1::1 +msgid "The convention in which the frame offset is applied." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.pos:1 +#: omni.isaac.lab.sensors.OffsetCfg.pos:1 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos:1 +#: omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos:1 +#: omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos:1 +msgid "Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.rot:1 +#: omni.isaac.lab.sensors.OffsetCfg.rot:1 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.rot:1 +#: omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.rot:1 +#: omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.rot:1 +msgid "" +"Quaternion rotation (w, x, y, z) w.r.t. the parent frame. Defaults to " +"(1.0, 0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention:1 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention:1 +#: omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention:1 +msgid "The convention in which the frame offset is applied. Defaults to \"ros\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention:3 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention:3 +#: omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention:3 +msgid "" +"``\"opengl\"`` - forward axis: ``-Z`` - up axis: ``+Y`` - Offset is " +"applied in the OpenGL (Usd.Camera) convention." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention:4 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention:4 +#: omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention:4 +msgid "" +"``\"ros\"`` - forward axis: ``+Z`` - up axis: ``-Y`` - Offset is " +"applied in the ROS convention." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.OffsetCfg.convention:5 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.convention:5 +#: omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.convention:5 +msgid "" +"``\"world\"`` - forward axis: ``+X`` - up axis: ``+Z`` - Offset is " +"applied in the World Frame convention." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.offset:1 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.offset:1 +#: omni.isaac.lab.sensors.RayCasterCfg.offset:1 +#: omni.isaac.lab.sensors.TiledCameraCfg.offset:1 +msgid "" +"The offset pose of the sensor's frame from the sensor's parent frame. " +"Defaults to identity." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.offset:5 +#: omni.isaac.lab.sensors.TiledCameraCfg.offset:5 +msgid "" +"The parent frame is the frame the sensor attaches to. For example, the " +"parent frame of a camera at path ``/World/envs/env_0/Robot/Camera`` is " +"``/World/envs/env_0/Robot``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.spawn:3 +#: omni.isaac.lab.sensors.TiledCameraCfg.spawn:3 +msgid "" +"If None, then the prim is not spawned by the asset. Instead, it is " +"assumed that the asset is already present in the scene." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.data_types:1 +#: omni.isaac.lab.sensors.TiledCameraCfg.data_types:1 +msgid "" +"List of sensor names/types to enable for the camera. Defaults to " +"[\"rgb\"]." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.data_types:3 +msgid "" +"Please refer to the :class:`Camera` class for a list of available data " +"types." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.semantic_filter:1 +msgid "" +"A string or a list specifying a semantic filter predicate. Defaults to " +"``\"*:*\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.semantic_filter:3 +msgid "" +"If a string, it should be a disjunctive normal form of (semantic type, " +"labels). For examples:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.semantic_filter:5 +msgid "" +"``\"typeA : labelA & !labelB | labelC , typeB: labelA ; typeC: " +"labelE\"``: All prims with semantic type \"typeA\" and label \"labelA\" " +"but not \"labelB\" or with label \"labelC\". Also, all prims with " +"semantic type \"typeB\" and label \"labelA\", or with semantic type " +"\"typeC\" and label \"labelE\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.semantic_filter:8 +msgid "" +"``\"typeA : * ; * : labelA\"``: All prims with semantic type \"typeA\" or" +" with label \"labelA\"" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.semantic_filter:10 +msgid "" +"If a list of strings, each string should be a semantic type. The " +"segmentation for prims with semantics of the specified types will be " +"retrieved. For example, if the list is [\"class\"], only the segmentation" +" for prims with semantics of type \"class\" will be retrieved." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.CameraCfg.semantic_filter:16 +msgid "" +"For more information on the semantics filter, see the documentation on " +"`Replicator Semantics Schema Editor`_." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation:1 +msgid "Whether to colorize the semantic segmentation images. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation:3 +msgid "" +"If True, semantic segmentation is converted to an image where semantic " +"IDs are mapped to colors and returned as a ``uint8`` 4-channel array. If " +"False, the output is returned as a ``int32`` array." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation:1 +#: omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation:1 +msgid "Whether to colorize the instance ID segmentation images. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation:3 +msgid "" +"If True, instance id segmentation is converted to an image where instance" +" IDs are mapped to colors. and returned as a ``uint8`` 4-channel array. " +"If False, the output is returned as a ``int32`` array." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation:3 +msgid "" +"If True, instance segmentation is converted to an image where instance " +"IDs are mapped to colors. and returned as a ``uint8`` 4-channel array. If" +" False, the output is returned as a ``int32`` array." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:65 +msgid "Tile-Rendered USD Camera" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sensors.camera.camera.Camera`" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:3 +msgid "" +"This class inherits from the :class:`Camera` class but uses the tiled-" +"rendering API from Replicator to acquire the visual data. Tiled-rendering" +" concatenates the rendered images from multiple cameras into a single " +"image. This allows for rendering multiple cameras in parallel and is " +"useful for rendering large scenes with multiple cameras efficiently." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:8 +msgid "The following sensor types are supported:" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:11 +msgid "``\"depth\"``: An image containing the distance to camera optical center." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:14 +msgid "" +"Please note that the fidelity of RGB images may be lower than the " +"standard camera sensor due to the tiled rendering process. Various ray " +"tracing effects such as reflections, refractions, and shadows may not be " +"accurately captured in the RGB images. We are currently working on " +"improving the fidelity of the RGB images." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:20 +msgid "" +"This feature is available starting from Isaac Sim 4.0. Before this " +"version, the tiled rendering APIs were not available." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid "" +":py:obj:`SUPPORTED_TYPES " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.TiledCamera.SUPPORTED_TYPES:1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid "The set of sensor types that are supported." +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid "" +":py:obj:`UNSUPPORTED_TYPES " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`frame `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid ":py:obj:`image_shape `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid "" +":py:obj:`is_initialized " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid "" +":py:obj:`num_instances " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera:1::1 +msgid "" +":py:obj:`render_product_paths " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +#: omni.isaac.lab.sensors.camera.tiled_camera.TiledCamera.__init__:1 +msgid "Initializes the tiled camera sensor." +msgstr "" + +#: of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +msgid "" +":py:obj:`set_debug_vis " +"`\\ \\(debug\\_vis\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +msgid "" +":py:obj:`set_intrinsic_matrices " +"`\\ " +"\\(matrices\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +msgid "" +":py:obj:`set_world_poses " +"`\\ " +"\\(\\[positions\\, orientations\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.TiledCamera.cfg:1::1 +msgid "" +":py:obj:`set_world_poses_from_view " +"`\\ " +"\\(eyes\\, targets\\[\\, ...\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg:1::1 +msgid ":py:obj:`OffsetCfg `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`offset `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`spawn `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`data_types `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`width `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`height `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid "" +":py:obj:`return_latest_camera_pose " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.camera.tiled_camera_cfg.TiledCameraCfg.OffsetCfg:1::1 +msgid "Whether to return the latest camera pose when fetching the camera's data." +msgstr "" + +#: of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`pos `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`rot `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.TiledCameraCfg.OffsetCfg.pos:1::1 +msgid "" +":py:obj:`convention " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.TiledCameraCfg.data_types:3 +msgid "" +"Please refer to the :class:`TiledCamera` class for a list of available " +"data types." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.TiledCameraCfg.return_latest_camera_pose:1 +msgid "" +"Whether to return the latest camera pose when fetching the camera's data." +" Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.TiledCameraCfg.return_latest_camera_pose:3 +msgid "" +"If True, the latest camera pose is returned in the camera's data which " +"will slow down performance due to the use of :class:`XformPrimView`. If " +"False, the pose of the camera during initialization is returned." +msgstr "" + +#: of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:3 +msgid "" +"The contact sensor reports the normal contact forces on a rigid body in " +"the world frame. It relies on the `PhysX ContactReporter`_ API to be " +"activated on the rigid bodies." +msgstr "" + +#: of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:6 +msgid "" +"To enable the contact reporter on a rigid body, please make sure to " +"enable the " +":attr:`omni.isaac.lab.sim.spawner.RigidObjectSpawnerCfg.activate_contact_sensors`" +" on your asset spawner configuration. This will enable the contact " +"reporter on all the rigid bodies in the asset." +msgstr "" + +#: of omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:11 +msgid "" +"The sensor can be configured to report the contact forces on a set of " +"bodies with a given filter pattern. Please check the documentation on " +"`RigidContactView`_ for more details." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid "" +":py:obj:`num_instances " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`num_bodies `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.num_bodies:1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid "Number of bodies with contact sensors attached." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`body_names `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.body_names:1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid "Ordered names of bodies with contact sensors attached." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid "" +":py:obj:`body_physx_view " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.body_physx_view:1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid "View for the rigid bodies captured (PhysX)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid "" +":py:obj:`contact_physx_view " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.contact_physx_view:1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid "Contact reporter view for the bodies (PhysX)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor:1::1 +msgid "" +":py:obj:`is_initialized " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.__init__:1 +msgid "Initializes the contact sensor object." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +msgid "" +":py:obj:`find_bodies " +"`\\ " +"\\(name\\_keys\\[\\, preserve\\_order\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.find_bodies:1 +msgid "Find bodies in the articulation based on the name keys." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +msgid "" +":py:obj:`compute_first_contact " +"`\\ " +"\\(dt\\[\\, abs\\_tol\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:1 +msgid "" +"Checks if bodies that have established contact within the last :attr:`dt`" +" seconds." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +msgid "" +":py:obj:`compute_first_air " +"`\\ \\(dt\\[\\, " +"abs\\_tol\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:1 +msgid "" +"Checks if bodies that have broken contact within the last :attr:`dt` " +"seconds." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.cfg:1::1 +msgid "" +":py:obj:`set_debug_vis " +"`\\ \\(debug\\_vis\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensor.body_physx_view:3 +#: omni.isaac.lab.sensors.ContactSensor.contact_physx_view:3 +msgid "" +"Use this view with caution. It requires handling of tensors in a specific" +" way." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.find_bodies:3 +msgid "" +"A regular expression or a list of regular expressions to match the body " +"names." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.find_bodies:4 +msgid "" +"Whether to preserve the order of the name keys in the output. Defaults to" +" False." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.find_bodies:6 +msgid "A tuple of lists containing the body indices and names." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:3 +msgid "" +"This function checks if the bodies have established contact within the " +"last :attr:`dt` seconds by comparing the current contact time with the " +"given time period. If the contact time is less than the given time " +"period, then the bodies are considered to be in contact." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:9 +msgid "" +"The function assumes that :attr:`dt` is a factor of the sensor update " +"time-step. In other words :math:`dt / dt_sensor = n`, where :math:`n` is " +"a natural number. This is always true if the sensor is updated by the " +"physics or the environment stepping time-step and the sensor is read by " +"the environment stepping time-step." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:14 +msgid "The time period since the contact was established." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:15 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:15 +msgid "The absolute tolerance for the comparison." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:17 +msgid "" +"A boolean tensor indicating the bodies that have established contact " +"within the last :attr:`dt` seconds. Shape is (N, B), where N is the " +"number of sensors and B is the number of bodies in each sensor." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:20 +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_contact:21 +msgid "If the sensor is not configured to track contact time." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:3 +msgid "" +"This function checks if the bodies have broken contact within the last " +":attr:`dt` seconds by comparing the current air time with the given time " +"period. If the air time is less than the given time period, then the " +"bodies are considered to not be in contact." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:9 +msgid "" +"It assumes that :attr:`dt` is a factor of the sensor update time-step. In" +" other words, :math:`dt / dt_sensor = n`, where :math:`n` is a natural " +"number. This is always true if the sensor is updated by the physics or " +"the environment stepping time-step and the sensor is read by the " +"environment stepping time-step." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:14 +msgid "The time period since the contract is broken." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.contact_sensor.contact_sensor.ContactSensor.compute_first_air:17 +msgid "" +"A boolean tensor indicating the bodies that have broken contact within " +"the last :attr:`dt` seconds. Shape is (N, B), where N is the number of " +"sensors and B is the number of bodies in each sensor." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid ":py:obj:`pos_w `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:1 +#: omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +#: omni.isaac.lab.sensors.RayCasterData.pos_w:1 +#: omni.isaac.lab.sensors.RayCasterData.pos_w:1::1 +msgid "Position of the sensor origin in world frame." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid ":py:obj:`quat_w `\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +#: omni.isaac.lab.sensors.ContactSensorData.quat_w:1 +#: omni.isaac.lab.sensors.RayCasterData.pos_w:1::1 +#: omni.isaac.lab.sensors.RayCasterData.quat_w:1 +msgid "" +"Orientation of the sensor origin in quaternion (w, x, y, z) in world " +"frame." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid "" +":py:obj:`net_forces_w " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.net_forces_w:1 +#: omni.isaac.lab.sensors.ContactSensorData.net_forces_w_history:1 +#: omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid "The net contact forces in world frame." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid "" +":py:obj:`net_forces_w_history " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid "" +":py:obj:`force_matrix_w " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.force_matrix_w:1 +#: omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid "" +"The contact forces filtered between the sensor bodies and filtered bodies" +" in world frame." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid "" +":py:obj:`last_air_time " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.last_air_time:1 +#: omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid "Time spent (in s) in the air before the last contact." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid "" +":py:obj:`current_air_time " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.ContactSensorData.current_air_time:1 +#: omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid "Time spent (in s) in the air since the last detach." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid "" +":py:obj:`last_contact_time " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.ContactSensorData.last_contact_time:1 +#: omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid "Time spent (in s) in contact before the last detach." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid "" +":py:obj:`current_contact_time " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.ContactSensorData.current_contact_time:1 +#: omni.isaac.lab.sensors.ContactSensorData.pos_w:1::1 +msgid "Time spent (in s) in contact since the last contact." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:3 +#: omni.isaac.lab.sensors.RayCasterData.pos_w:3 +msgid "Shape is (N, 3), where N is the number of sensors." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.pos_w:5 +#: omni.isaac.lab.sensors.ContactSensorData.quat_w:5 +msgid "" +"If the :attr:`ContactSensorCfg.track_pose` is False, then this qunatity " +"is None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.quat_w:3 +#: omni.isaac.lab.sensors.RayCasterData.quat_w:3 +msgid "Shape is (N, 4), where N is the number of sensors." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.net_forces_w:3 +msgid "" +"Shape is (N, B, 3), where N is the number of sensors and B is the number " +"of bodies in each sensor." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.ContactSensorData.net_forces_w_history:3 +msgid "" +"Shape is (N, T, B, 3), where N is the number of sensors, T is the " +"configured history length and B is the number of bodies in each sensor." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.ContactSensorData.net_forces_w_history:6 +msgid "" +"In the history dimension, the first index is the most recent and the last" +" index is the oldest." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.force_matrix_w:3 +msgid "" +"Shape is (N, B, M, 3), where N is the number of sensors, B is number of " +"bodies in each sensor and ``M`` is the number of filtered bodies." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorData.force_matrix_w:6 +msgid "" +"If the :attr:`ContactSensorCfg.filter_prim_paths_expr` is empty, then " +"this quantity is None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.ContactSensorData.current_air_time:3 +#: omni.isaac.lab.sensors.ContactSensorData.current_contact_time:3 +#: omni.isaac.lab.sensors.ContactSensorData.last_air_time:3 +#: omni.isaac.lab.sensors.ContactSensorData.last_contact_time:3 +msgid "" +"Shape is (N, B), where N is the number of sensors and B is the number of " +"bodies in each sensor." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.ContactSensorData.current_air_time:5 +#: omni.isaac.lab.sensors.ContactSensorData.current_contact_time:5 +#: omni.isaac.lab.sensors.ContactSensorData.last_air_time:5 +#: omni.isaac.lab.sensors.ContactSensorData.last_contact_time:5 +msgid "" +"If the :attr:`ContactSensorCfg.track_air_time` is False, then this " +"quantity is None." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid "" +":py:obj:`track_pose " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid "Whether to track the pose of the sensor's origin." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid "" +":py:obj:`track_air_time " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid "" +"Whether to track the air/contact time of the bodies (time between " +"contacts)." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid "" +":py:obj:`force_threshold " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.force_threshold:1 +#: omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid "" +"The threshold on the norm of the contact force that determines whether " +"two bodies are in collision or not." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid "" +":py:obj:`filter_prim_paths_expr " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid "The list of primitive paths (or expressions) to filter contacts with." +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +msgid "" +":py:obj:`visualizer_cfg " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1::1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid "The configuration object for the visualization markers." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.track_pose:1 +msgid "Whether to track the pose of the sensor's origin. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.track_air_time:1 +msgid "" +"Whether to track the air/contact time of the bodies (time between " +"contacts). Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.force_threshold:3 +msgid "" +"This value is only used for tracking the mode duration (the time in " +"contact or in air), if :attr:`track_air_time` is True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr:1 +msgid "" +"The list of primitive paths (or expressions) to filter contacts with. " +"Defaults to an empty list, in which case no filtering is applied." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr:4 +msgid "" +"The contact sensor allows reporting contacts between the primitive " +"specified with :attr:`prim_path` and other primitives in the scene. For " +"instance, in a scene containing a robot, a ground plane and an object, " +"you can obtain individual contact reports of the base of the robot with " +"the ground plane and the object." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr:9 +msgid "" +"The expression in the list can contain the environment namespace regex " +"``{ENV_REGEX_NS}`` which will be replaced with the environment namespace." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.ContactSensorCfg.filter_prim_paths_expr:12 +msgid "" +"Example: ``{ENV_REGEX_NS}/Object`` will be replaced with " +"``/World/envs/env_.*/Object``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.visualizer_cfg:1 +msgid "" +"The configuration object for the visualization markers. Defaults to " +"CONTACT_SENSOR_MARKER_CFG." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.ContactSensorCfg.visualizer_cfg:4 +#: omni.isaac.lab.sensors.FrameTransformerCfg.visualizer_cfg:3 +#: omni.isaac.lab.sensors.RayCasterCameraCfg.visualizer_cfg:3 +#: omni.isaac.lab.sensors.RayCasterCfg.visualizer_cfg:3 +msgid "This attribute is only used when debug visualization is enabled." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:3 +msgid "" +"This class provides an interface for reporting the transform of one or " +"more frames (target frames) with respect to another frame (source frame)." +" The source frame is specified by the user as a prim path " +"(:attr:`FrameTransformerCfg.prim_path`) and the target frames are " +"specified by the user as a list of prim paths " +"(:attr:`FrameTransformerCfg.target_frames`)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:8 +msgid "" +"The source frame and target frames are assumed to be rigid bodies. The " +"transform of the target frames with respect to the source frame is " +"computed by first extracting the transform of the source frame and target" +" frames from the physics engine and then computing the relative transform" +" between the two." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:12 +msgid "" +"Additionally, the user can specify an offset for the source frame and " +"each target frame. This is useful for specifying the transform of the " +"desired frame with respect to the body's center of mass, for instance." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:15 +msgid "" +"A common example of using this sensor is to track the position and " +"orientation of the end effector of a robotic manipulator. In this case, " +"the source frame would be the body corresponding to the base frame of the" +" manipulator, and the target frame would be the body corresponding to the" +" end effector. Since the end-effector is typically a fictitious body, the" +" user may need to specify an offset from the end-effector to the body of " +"the manipulator." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:23 +msgid "" +"Currently, this implementation only handles frames within an " +"articulation. This is because the frame regex expressions are resolved " +"based on their parent prim path. This can be extended to handle frames " +"outside of articulation by using the frame prim path instead. However, " +"this would require additional checks to ensure that the user-specified " +"frames are valid which is not currently implemented." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:30 +msgid "" +"The implementation assumes that the parent body of a target frame is not " +"the same as that of the source frame (i.e. " +":attr:`FrameTransformerCfg.prim_path`). While a corner case, this can " +"occur if the user specifies the same prim path for both the source frame " +"and target frame. In this case, the target frame will be ignored and not " +"reported. This is a limitation of the current implementation and will be " +"fixed in a future release." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +msgid "" +":py:obj:`is_initialized " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer:1::1 +msgid "" +":py:obj:`num_instances " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.FrameTransformer.cfg:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.FrameTransformer.cfg:1::1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer.FrameTransformer.__init__:1 +msgid "Initializes the frame transformer object." +msgstr "" + +#: of omni.isaac.lab.sensors.FrameTransformer.cfg:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.FrameTransformer.cfg:1::1 +msgid "" +":py:obj:`set_debug_vis " +"`\\ " +"\\(debug\\_vis\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "" +":py:obj:`target_frame_names " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1 +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "" +"Target frame names (this denotes the order in which that frame data is " +"ordered)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "" +":py:obj:`target_pos_source " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: omni.isaac.lab.sensors.FrameTransformerData.target_pos_source:1 +msgid "Position of the target frame(s) relative to source frame." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "" +":py:obj:`target_quat_source " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: omni.isaac.lab.sensors.FrameTransformerData.target_quat_source:1 +msgid "" +"Orientation of the target frame(s) relative to source frame quaternion " +"(w, x, y, z)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "" +":py:obj:`target_pos_w " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: omni.isaac.lab.sensors.FrameTransformerData.target_pos_w:1 +msgid "Position of the target frame(s) after offset (in world frame)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "" +":py:obj:`target_quat_w " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: omni.isaac.lab.sensors.FrameTransformerData.target_quat_w:1 +msgid "" +"Orientation of the target frame(s) after offset (in world frame) " +"quaternion (w, x, y, z)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "" +":py:obj:`source_pos_w " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerData.source_pos_w:1 +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "Position of the source frame after offset (in world frame)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "" +":py:obj:`source_quat_w " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerData.source_quat_w:1 +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "" +"Orientation of the source frame after offset (in world frame) quaternion " +"(w, x, y, z)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "" +":py:obj:`target_rot_source " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: omni.isaac.lab.sensors.FrameTransformerData.target_rot_source:1 +msgid "Alias for :attr:`target_quat_source`." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "" +":py:obj:`target_rot_w " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +#: omni.isaac.lab.sensors.FrameTransformerData.target_rot_w:1 +msgid "Alias for :attr:`target_quat_w`." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "" +":py:obj:`source_rot_w " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.FrameTransformerData.source_rot_w:1 +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:1::1 +msgid "Alias for :attr:`source_quat_w`." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerData.target_frame_names:3 +msgid "" +"The frame names are resolved from the " +":attr:`FrameTransformerCfg.FrameCfg.name` field. This usually follows the" +" order in which the frames are defined in the config. However, in the " +"case of regex matching, the order may be different." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerData.target_pos_source:3 +#: omni.isaac.lab.sensors.FrameTransformerData.target_pos_w:3 +msgid "" +"Shape is (N, M, 3), where N is the number of environments, and M is the " +"number of target frames." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerData.target_quat_source:3 +#: omni.isaac.lab.sensors.FrameTransformerData.target_quat_w:3 +msgid "" +"Shape is (N, M, 4), where N is the number of environments, and M is the " +"number of target frames." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerData.source_pos_w:3 +msgid "Shape is (N, 3), where N is the number of environments." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerData.source_quat_w:3 +msgid "Shape is (N, 4), where N is the number of environments." +msgstr "" + +#: of omni.isaac.lab.sensors.FrameTransformerData.target_rot_source:3 +msgid "Use :attr:`target_quat_source` instead. Will be removed in v0.3.0." +msgstr "" + +#: of omni.isaac.lab.sensors.FrameTransformerData.target_rot_w:3 +msgid "Use :attr:`target_quat_w` instead. Will be removed in v0.3.0." +msgstr "" + +#: of omni.isaac.lab.sensors.FrameTransformerData.source_rot_w:3 +msgid "Use :attr:`source_quat_w` instead. Will be removed in v0.3.0." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg:1::1 +msgid ":py:obj:`FrameCfg `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg:1::1 +msgid "Information specific to a coordinate frame." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +msgid "" +":py:obj:`prim_path " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.FrameTransformerCfg.prim_path:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +msgid "The prim path of the body to transform from (source frame)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +msgid "" +":py:obj:`source_frame_offset " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerCfg.source_frame_offset:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +msgid "The pose offset from the source prim frame." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +msgid "" +":py:obj:`target_frames " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerCfg.target_frames:1 +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +msgid "A list of the target frames." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.FrameTransformerCfg.FrameCfg:1::1 +msgid "" +":py:obj:`visualizer_cfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:1::1 +msgid "" +":py:obj:`prim_path " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:1 +#: omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:1::1 +msgid "The prim path corresponding to the parent rigid body." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:1::1 +msgid "" +":py:obj:`name " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:1::1 +msgid "User-defined name for the new coordinate frame." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:1::1 +msgid "" +":py:obj:`offset " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.offset:1 +#: omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:1::1 +msgid "The pose offset from the parent prim frame." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.prim_path:3 +msgid "" +"This prim should be part of the same articulation as " +":attr:`FrameTransformerCfg.prim_path`." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.name:1 +msgid "User-defined name for the new coordinate frame. Defaults to None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerCfg.FrameCfg.name:3 +msgid "If None, then the name is extracted from the leaf of the prim path." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerCfg.target_frames:3 +msgid "" +"This allows a single FrameTransformer to handle multiple target prims. " +"For example, in a quadruped, we can use a single FrameTransformer to " +"track each foot's position and orientation in the body frame using four " +"frame offsets." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.FrameTransformerCfg.visualizer_cfg:1 +msgid "" +"The configuration object for the visualization markers. Defaults to " +"FRAME_MARKER_CFG." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg.OffsetCfg:1 +msgid "The offset pose of one frame relative to another frame." +msgstr "" + +#: of omni.isaac.lab.sensors.OffsetCfg.pos:1::1 +msgid ":py:obj:`pos `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.OffsetCfg.pos:1::1 +msgid ":py:obj:`rot `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:122 +msgid "Ray-Cast Sensor" +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:3 +msgid "" +"The ray-caster uses a set of rays to detect collisions with meshes in the" +" scene. The rays are defined in the sensor's local coordinate frame. The " +"sensor can be configured to ray-cast against a set of meshes with a given" +" ray pattern." +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:7 +msgid "" +"The meshes are parsed from the list of primitive paths provided in the " +"configuration. These are then converted to warp meshes and stored in the " +"`warp_meshes` list. The ray-caster then ray-casts against these warp " +"meshes using the ray pattern provided in the configuration." +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:12 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:17 +msgid "" +"Currently, only static meshes are supported. Extending the warp mesh to " +"support dynamic meshes is a work in progress." +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +msgid ":py:obj:`meshes `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCaster.meshes:1 +#: omni.isaac.lab.sensors.RayCasterCamera.meshes:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid "The warp meshes available for raycasting." +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +msgid ":py:obj:`num_instances `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster:1::1 +msgid "" +":py:obj:`is_initialized " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCaster.cfg:1::1 +msgid ":py:obj:`__init__ `\\ \\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCaster.cfg:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster.__init__:1 +msgid "Initializes the ray-caster object." +msgstr "" + +#: of omni.isaac.lab.sensors.RayCaster.cfg:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCaster.cfg:1::1 +msgid "" +":py:obj:`set_debug_vis " +"`\\ \\(debug\\_vis\\)" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCaster.meshes:3 +#: omni.isaac.lab.sensors.RayCasterCamera.meshes:3 +msgid "" +"The keys correspond to the prim path for the meshes, and values are the " +"corresponding warp Mesh objects." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCaster.meshes:5 +#: omni.isaac.lab.sensors.RayCasterCamera.meshes:5 +msgid "" +"We store a global dictionary of all warp meshes to prevent re-loading the" +" mesh for different ray-cast sensor instances." +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterData.pos_w:1::1 +msgid ":py:obj:`pos_w `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterData.pos_w:1::1 +msgid ":py:obj:`quat_w `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterData.pos_w:1::1 +msgid ":py:obj:`ray_hits_w `\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.RayCasterData.pos_w:1::1 +#: omni.isaac.lab.sensors.RayCasterData.ray_hits_w:1 +msgid "The ray hit positions in the world frame." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCasterData.ray_hits_w:3 +msgid "" +"Shape is (N, B, 3), where N is the number of sensors, B is the number of " +"rays in the scan pattern per sensor." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg:1::1 +msgid ":py:obj:`OffsetCfg `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid "" +":py:obj:`mesh_prim_paths " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.RayCasterCameraCfg.mesh_prim_paths:1 +#: omni.isaac.lab.sensors.RayCasterCfg.mesh_prim_paths:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid "The list of mesh primitive paths to ray cast against." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid ":py:obj:`offset `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid "" +":py:obj:`attach_yaw_only " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.RayCasterCameraCfg.attach_yaw_only:1 +#: omni.isaac.lab.sensors.RayCasterCfg.attach_yaw_only:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid "" +"Whether the rays' starting positions and directions only track the yaw " +"orientation." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid ":py:obj:`pattern_cfg `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.pattern_cfg:1 +#: omni.isaac.lab.sensors.RayCasterCfg.pattern_cfg:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid "The pattern that defines the local ray starting positions and directions." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid "" +":py:obj:`max_distance " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid "Maximum distance (in meters) from the sensor to ray cast to." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid ":py:obj:`drift_range `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid "The range of drift (in meters) to add to the ray starting positions (xyz)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg.OffsetCfg:1::1 +msgid "" +":py:obj:`visualizer_cfg " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`pos `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`rot `\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.RayCasterCameraCfg.mesh_prim_paths:5 +#: omni.isaac.lab.sensors.RayCasterCfg.mesh_prim_paths:5 +msgid "" +"Currently, only a single static mesh is supported. We are working on " +"supporting multiple static meshes and dynamic meshes." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.RayCasterCameraCfg.attach_yaw_only:3 +#: omni.isaac.lab.sensors.RayCasterCfg.attach_yaw_only:3 +msgid "" +"This is useful for ray-casting height maps, where only yaw rotation is " +"needed." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.max_distance:1 +#: omni.isaac.lab.sensors.RayCasterCfg.max_distance:1 +msgid "" +"Maximum distance (in meters) from the sensor to ray cast to. Defaults to " +"1e6." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.drift_range:1 +#: omni.isaac.lab.sensors.RayCasterCfg.drift_range:1 +msgid "" +"The range of drift (in meters) to add to the ray starting positions " +"(xyz). Defaults to (0.0, 0.0)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.drift_range:3 +#: omni.isaac.lab.sensors.RayCasterCfg.drift_range:3 +msgid "" +"For floating base robots, this is useful for simulating drift in the " +"robot's pose estimation." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.RayCasterCameraCfg.visualizer_cfg:1 +#: omni.isaac.lab.sensors.RayCasterCfg.visualizer_cfg:1 +msgid "" +"The configuration object for the visualization markers. Defaults to " +"RAY_CASTER_MARKER_CFG." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sensors.rst:141 +msgid "Ray-Cast Camera" +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sensors.ray_caster.ray_caster.RayCaster`" +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:3 +msgid "" +"The ray-caster camera uses a set of rays to get the distances to meshes " +"in the scene. The rays are defined in the sensor's local coordinate " +"frame. The sensor has the same interface as the " +":class:`omni.isaac.lab.sensors.Camera` that implements the camera class " +"through USD camera prims. However, this class provides a faster image " +"generation. The sensor converts meshes from the list of primitive paths " +"provided in the configuration to Warp meshes. The camera then ray-casts " +"against these Warp meshes only." +msgstr "" + +#: of omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:10 +msgid "Currently, only the following annotators are supported:" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid "" +":py:obj:`UNSUPPORTED_TYPES " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sensors.RayCasterCamera.UNSUPPORTED_TYPES:1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid "A set of sensor types that are not supported by the ray-caster camera." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid "" +":py:obj:`image_shape " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`frame `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid "" +":py:obj:`is_initialized " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid ":py:obj:`meshes `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera:1::1 +msgid "" +":py:obj:`num_instances " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.__init__:1 +msgid "Initializes the camera object." +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +msgid "" +":py:obj:`set_intrinsic_matrices " +"`\\ " +"\\(matrices\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_intrinsic_matrices:1 +msgid "Set the intrinsic matrix of the camera." +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +msgid "" +":py:obj:`set_world_poses " +"`\\ " +"\\(\\[positions\\, orientations\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +msgid "" +":py:obj:`set_world_poses_from_view " +"`\\ " +"\\(eyes\\, targets\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterCamera.cfg:1::1 +msgid "" +":py:obj:`set_debug_vis " +"`\\ " +"\\(debug\\_vis\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.__init__:5 +msgid "If the provided data types are not supported by the ray-caster camera." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera.RayCasterCamera.set_world_poses_from_view:3 +msgid "The positions of the camera's eye. Shape is N, 3)." +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.sensors.ray_caster.ray_caster_cfg.RayCasterCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg:1::1 +msgid "" +":py:obj:`OffsetCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg:1::1 +msgid ":py:obj:`offset `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sensors.ray_caster.ray_caster_camera_cfg.RayCasterCameraCfg.OffsetCfg:1::1 +msgid "" +":py:obj:`data_types " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`pos `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos:1::1 +msgid ":py:obj:`rot `\\" +msgstr "" + +#: of omni.isaac.lab.sensors.RayCasterCameraCfg.OffsetCfg.pos:1::1 +msgid "" +":py:obj:`convention " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sensors.RayCasterCameraCfg.data_types:1 +msgid "" +"List of sensor names/types to enable for the camera. Defaults to " +"[\"distance_to_image_plane\"]." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.converters.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.converters.po new file mode 100644 index 0000000000..33ee196cc9 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.converters.po @@ -0,0 +1,951 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:2 +msgid "omni.isaac.lab.sim.converters" +msgstr "" + +#: of omni.isaac.lab.sim.converters:1 +msgid "Sub-module containing converters for converting various file types to USD." +msgstr "" + +#: of omni.isaac.lab.sim.converters:3 +msgid "" +"In order to support direct loading of various file types into Omniverse, " +"we provide a set of converters that can convert the file into a USD file." +" The converters are implemented as sub-classes of the " +":class:`AssetConverterBase` class." +msgstr "" + +#: of omni.isaac.lab.sim.converters:7 +msgid "The following converters are currently supported:" +msgstr "" + +#: of omni.isaac.lab.sim.converters:9 +msgid ":class:`UrdfConverter`: Converts a URDF file into a USD file." +msgstr "" + +#: of omni.isaac.lab.sim.converters:10 +msgid "" +":class:`MeshConverter`: Converts a mesh file into a USD file. This " +"supports OBJ, STL and FBX files." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +msgid "" +":py:obj:`AssetConverterBase " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 of +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:1 +msgid "" +"Base class for converting an asset file from different formats into USD " +"format." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +msgid "" +":py:obj:`AssetConverterBaseCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 of +#: omni.isaac.lab.sim.converters.asset_converter_base_cfg.AssetConverterBaseCfg:1 +msgid "The base configuration class for asset converters." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +msgid ":py:obj:`MeshConverter `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 of +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1 +msgid "Converter for a mesh file in OBJ / STL / FBX format to a USD file." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +msgid "" +":py:obj:`MeshConverterCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 of +#: omni.isaac.lab.sim.converters.mesh_converter_cfg.MeshConverterCfg:1 +msgid "The configuration class for MeshConverter." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +msgid ":py:obj:`UrdfConverter `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 of +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1 +msgid "Converter for a URDF description file to a USD file." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 +msgid "" +":py:obj:`UrdfConverterCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:15::1 of +#: omni.isaac.lab.sim.converters.urdf_converter_cfg.UrdfConverterCfg:1 +msgid "The configuration class for UrdfConverter." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:18 +msgid "Asset Converter Base" +msgstr "" + +#: of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:3 +msgid "" +"This class provides a common interface for converting an asset file into " +"USD. It does not provide any implementation for the conversion. The " +"derived classes must implement the :meth:`_convert_asset` method to " +"provide the actual conversion." +msgstr "" + +#: of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:7 +msgid "" +"The file conversion is lazy if the output directory " +"(:obj:`AssetConverterBaseCfg.usd_dir`) is provided. In the lazy " +"conversion, the USD file is re-generated only if:" +msgstr "" + +#: of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:10 +msgid "The asset file is modified." +msgstr "" + +#: of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:11 +msgid "The configuration parameters are modified." +msgstr "" + +#: of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:12 +msgid "The USD file does not exist." +msgstr "" + +#: of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:14 +msgid "" +"To override this behavior to force conversion, the flag " +":obj:`AssetConverterBaseCfg.force_usd_conversion` can be set to True." +msgstr "" + +#: of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:17 +msgid "" +"When no output directory is defined, lazy conversion is deactivated and " +"the generated USD file is stored in folder " +"``/tmp/IsaacLab/usd_{date}_{time}_{random}``, where the parameters in " +"braces are generated at runtime. The random identifiers help avoid a race" +" condition where two simultaneously triggered conversions try to use the " +"same directory for reading/writing the generated files." +msgstr "" + +#: of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:23 +msgid "" +"Changes to the parameters :obj:`AssetConverterBaseCfg.asset_path`, " +":obj:`AssetConverterBaseCfg.usd_dir`, and " +":obj:`AssetConverterBaseCfg.usd_file_name` are not considered as " +"modifications in the configuration instance that trigger USD file re-" +"generation." +msgstr "" + +#: of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:1 +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1 +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1 +msgid "**Methods:**" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ \\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.sim.converters.MeshConverter.cfg:1::1 +#: omni.isaac.lab.sim.converters.UrdfConverter.cfg:1::1 +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1 +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:1::1 +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter.__init__:1 +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter.__init__:1 +msgid "Initializes the class." +msgstr "" + +#: of omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase:1 +#: omni.isaac.lab.sim.converters.asset_converter_base_cfg.AssetConverterBaseCfg:1 +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1 +#: omni.isaac.lab.sim.converters.mesh_converter_cfg.MeshConverterCfg:1 +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1 +#: omni.isaac.lab.sim.converters.urdf_converter_cfg.UrdfConverterCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +msgid "" +":py:obj:`usd_dir " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.converters.AssetConverterBase.usd_dir:1 +#: omni.isaac.lab.sim.converters.MeshConverter.usd_dir:1 +#: omni.isaac.lab.sim.converters.UrdfConverter.usd_dir:1 +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid "" +"The absolute path to the directory where the generated USD files are " +"stored." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +msgid "" +":py:obj:`usd_file_name " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.converters.AssetConverterBase.usd_file_name:1 +#: omni.isaac.lab.sim.converters.MeshConverter.usd_file_name:1 +#: omni.isaac.lab.sim.converters.UrdfConverter.usd_file_name:1 +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid "The file name of the generated USD file." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +msgid "" +":py:obj:`usd_path " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.converters.AssetConverterBase.usd_path:1 +#: omni.isaac.lab.sim.converters.MeshConverter.usd_path:1 +#: omni.isaac.lab.sim.converters.UrdfConverter.usd_path:1 +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid "The absolute path to the generated USD file." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +msgid "" +":py:obj:`usd_instanceable_meshes_path " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.AssetConverterBase.usd_instanceable_meshes_path:1 +#: omni.isaac.lab.sim.converters.MeshConverter.usd_instanceable_meshes_path:1 +#: omni.isaac.lab.sim.converters.UrdfConverter.usd_instanceable_meshes_path:1 +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:1::1 +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid "The relative path to the USD file with meshes." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__ +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter.__init__ +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter.__init__ +msgid "Parameters" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:3 +msgid "The configuration instance for converting an asset file to USD format." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__ +msgid "Raises" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase.__init__:5 +msgid "When provided asset file does not exist." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.AssetConverterBase.usd_instanceable_meshes_path:3 +#: omni.isaac.lab.sim.converters.MeshConverter.usd_instanceable_meshes_path:3 +#: omni.isaac.lab.sim.converters.UrdfConverter.usd_instanceable_meshes_path:3 +msgid "" +"The path is with respect to the USD directory :attr:`usd_dir`. This is to" +" ensure that the mesh references in the generated USD file are resolved " +"relatively. Otherwise, it becomes difficult to move the USD asset to a " +"different location." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid "" +":py:obj:`asset_path " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1 +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +#: omni.isaac.lab.sim.converters.MeshConverterCfg.asset_path:1 +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.asset_path:1 +msgid "The absolute path to the asset file to convert into USD." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid "" +":py:obj:`usd_dir " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid "The output directory path to store the generated USD file." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid "" +":py:obj:`usd_file_name " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid "The name of the generated usd file." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid "" +":py:obj:`force_usd_conversion " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid "Force the conversion of the asset file to usd." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid "" +":py:obj:`make_instanceable " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.asset_path:1::1 +msgid "Make the generated USD file instanceable." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir:1 +#: omni.isaac.lab.sim.converters.MeshConverterCfg.usd_dir:1 +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_dir:1 +msgid "" +"The output directory path to store the generated USD file. Defaults to " +"None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_dir:3 +#: omni.isaac.lab.sim.converters.MeshConverterCfg.usd_dir:3 +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_dir:3 +msgid "" +"If None, it is resolved as ``/tmp/IsaacLab/usd_{date}_{time}_{random}``, " +"where the parameters in braces are runtime generated." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name:1 +#: omni.isaac.lab.sim.converters.MeshConverterCfg.usd_file_name:1 +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_file_name:1 +msgid "The name of the generated usd file. Defaults to None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name:3 +#: omni.isaac.lab.sim.converters.MeshConverterCfg.usd_file_name:3 +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_file_name:3 +msgid "" +"If None, it is resolved from the asset file name. For example, if the " +"asset file name is ``\"my_asset.urdf\"``, then the generated USD file " +"name is ``\"my_asset.usd\"``." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.usd_file_name:6 +#: omni.isaac.lab.sim.converters.MeshConverterCfg.usd_file_name:6 +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.usd_file_name:6 +msgid "" +"If the providing file name does not end with \".usd\" or \".usda\", then " +"the extension \".usd\" is appended to the file name." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion:1 +#: omni.isaac.lab.sim.converters.MeshConverterCfg.force_usd_conversion:1 +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.force_usd_conversion:1 +msgid "Force the conversion of the asset file to usd. Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.force_usd_conversion:3 +#: omni.isaac.lab.sim.converters.MeshConverterCfg.force_usd_conversion:3 +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.force_usd_conversion:3 +msgid "" +"If True, then the USD file is always generated. It will overwrite the " +"existing USD file if it exists." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.make_instanceable:1 +#: omni.isaac.lab.sim.converters.MeshConverterCfg.make_instanceable:1 +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.make_instanceable:1 +msgid "Make the generated USD file instanceable. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.AssetConverterBaseCfg.make_instanceable:5 +#: omni.isaac.lab.sim.converters.MeshConverterCfg.make_instanceable:5 +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.make_instanceable:5 +msgid "" +"Instancing helps reduce the memory footprint of the asset when multiple " +"copies of the asset are used in the scene. For more information, please " +"check the USD documentation on `scene-graph instancing " +"`_." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:28 +msgid "Mesh Converter" +msgstr "" + +#: of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1 +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.sim.converters.asset_converter_base.AssetConverterBase`" +msgstr "" + +#: of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:3 +msgid "" +"This class wraps around the `omni.kit.asset_converter`_ extension to " +"provide a lazy implementation for mesh to USD conversion. It stores the " +"output USD file in an instanceable format since that is what is typically" +" used in all learning related applications." +msgstr "" + +#: of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:7 +msgid "" +"To make the asset instanceable, we must follow a certain structure " +"dictated by how USD scene-graph instancing and physics work. The rigid " +"body component must be added to each instance and not the referenced " +"asset (i.e. the prototype prim itself). This is because the rigid body " +"component defines properties that are specific to each instance and " +"cannot be shared under the referenced asset. For more information, please" +" check the `documentation " +"`_." +msgstr "" + +#: of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:13 +msgid "Due to the above, we follow the following structure:" +msgstr "" + +#: of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:15 +msgid "" +"``{prim_path}`` - The root prim that is an Xform with the rigid body and " +"mass APIs if configured." +msgstr "" + +#: of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:16 +msgid "" +"``{prim_path}/geometry`` - The prim that contains the mesh and optionally" +" the materials if configured. If instancing is enabled, this prim will be" +" an instanceable reference to the prototype prim." +msgstr "" + +#: of omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:22 +msgid "" +"When converting STL files, Z-up convention is assumed, even though this " +"is not the default for many CAD export programs. Asset orientation " +"convention can either be modified directly in the CAD program's export " +"process or an offset can be added within the config in Isaac Lab." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.MeshConverter.cfg:1 +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter.__init__:3 +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +msgid "The configuration instance for mesh to USD conversion." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +msgid ":py:obj:`usd_dir `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +msgid "" +":py:obj:`usd_file_name " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +msgid "" +":py:obj:`usd_instanceable_meshes_path " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.mesh_converter.MeshConverter:1::1 +msgid "" +":py:obj:`usd_path " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.converters.MeshConverter.cfg:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ \\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.sim.converters.mesh_converter_cfg.MeshConverterCfg:1 +#: omni.isaac.lab.sim.converters.urdf_converter_cfg.UrdfConverterCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.sim.converters.asset_converter_base_cfg.AssetConverterBaseCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid "" +":py:obj:`mass_props " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid "Mass properties to apply to the USD." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid "" +":py:obj:`rigid_props " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid "Rigid body properties to apply to the USD." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid "" +":py:obj:`collision_props " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid "Collision properties to apply to the USD." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid "" +":py:obj:`collision_approximation " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1::1 +msgid "Collision approximation method to use." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:1 +msgid "Mass properties to apply to the USD. Defaults to None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.mass_props:3 +msgid "If None, then no mass properties will be added." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.rigid_props:1 +msgid "Rigid body properties to apply to the USD. Defaults to None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.rigid_props:3 +msgid "If None, then no rigid body properties will be added." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.collision_props:1 +msgid "Collision properties to apply to the USD. Defaults to None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.collision_props:3 +msgid "If None, then no collision properties will be added." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.collision_approximation:1 +msgid "" +"Collision approximation method to use. Defaults to " +"\"convexDecomposition\"." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.collision_approximation:3 +msgid "" +"Valid options are: \"convexDecomposition\", \"convexHull\", " +"\"boundingCube\", \"boundingSphere\", \"meshSimplification\", or \"none\"" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.MeshConverterCfg.collision_approximation:7 +msgid "\"none\" causes no collision mesh to be added." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.converters.rst:43 +msgid "URDF Converter" +msgstr "" + +#: of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:3 +msgid "" +"This class wraps around the `omni.isaac.urdf_importer`_ extension to " +"provide a lazy implementation for URDF to USD conversion. It stores the " +"output USD file in an instanceable format since that is what is typically" +" used in all learning related applications." +msgstr "" + +#: of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:8 +msgid "" +"The current lazy conversion implementation does not automatically trigger" +" USD generation if only the mesh files used by the URDF are modified. To " +"force generation, either set " +":obj:`AssetConverterBaseCfg.force_usd_conversion` to True or delete the " +"output directory." +msgstr "" + +#: of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:13 +msgid "" +"From Isaac Sim 2023.1 onwards, the extension name changed from " +"``omni.isaac.urdf`` to ``omni.importer.urdf``. This converter class " +"automatically detects the version of Isaac Sim and uses the appropriate " +"extension." +msgstr "" + +#: of omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:17 +msgid "" +"The new extension supports a custom XML tag``\"dont_collapse\"`` for " +"joints. Setting this parameter to true in the URDF joint tag prevents the" +" child link from collapsing when the associated joint type is \"fixed\"." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid ":py:obj:`cfg `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverter.cfg:1 +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter.__init__:3 +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid "The configuration instance for URDF to USD conversion." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid ":py:obj:`usd_dir `\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid "" +":py:obj:`usd_file_name " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid "" +":py:obj:`usd_instanceable_meshes_path " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.urdf_converter.UrdfConverter:1::1 +msgid "" +":py:obj:`usd_path " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.converters.UrdfConverter.cfg:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ \\(cfg\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "" +":py:obj:`link_density " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "Default density used for links." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "" +":py:obj:`import_inertia_tensor " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "Import the inertia tensor from urdf." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "" +":py:obj:`convex_decompose_mesh " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "Decompose a convex mesh into smaller pieces for a closer fit." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "" +":py:obj:`fix_base " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "Create a fix joint to the root/base link." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "" +":py:obj:`merge_fixed_joints " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "Consolidate links that are connected by fixed joints." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "" +":py:obj:`self_collision " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "Activate self-collisions between links of the articulation." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "" +":py:obj:`default_drive_type " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "The drive type used for joints." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "" +":py:obj:`override_joint_dynamics " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "Override the joint dynamics parsed from the URDF file." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "" +":py:obj:`default_drive_stiffness " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "The default stiffness of the joint drive." +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "" +":py:obj:`default_drive_damping " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1::1 +msgid "The default damping of the joint drive." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:1 +msgid "Default density used for links. Defaults to 0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.link_density:3 +msgid "" +"This setting is only effective if ``\"inertial\"`` properties are missing" +" in the URDF." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.import_inertia_tensor:1 +msgid "Import the inertia tensor from urdf. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.import_inertia_tensor:3 +msgid "" +"If the ``\"inertial\"`` tag is missing, then it is imported as an " +"identity." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.convex_decompose_mesh:1 +msgid "" +"Decompose a convex mesh into smaller pieces for a closer fit. Defaults to" +" False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.converters.UrdfConverterCfg.fix_base:1 +msgid "Create a fix joint to the root/base link. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.merge_fixed_joints:1 +msgid "Consolidate links that are connected by fixed joints. Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.self_collision:1 +msgid "" +"Activate self-collisions between links of the articulation. Defaults to " +"False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type:1 +msgid "The drive type used for joints. Defaults to ``\"none\"``." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type:3 +msgid "" +"The drive type dictates the loaded joint PD gains and USD attributes for " +"joint control:" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type:5 +msgid "``\"none\"``: The joint stiffness and damping are set to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type:6 +msgid "" +"``\"position\"``: The joint stiff and damping are set based on the URDF " +"file or provided configuration." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_type:7 +msgid "" +"``\"velocity\"``: The joint stiff is set to zero and damping is based on " +"the URDF file or provided configuration." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics:1 +msgid "Override the joint dynamics parsed from the URDF file. Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_stiffness:1 +msgid "The default stiffness of the joint drive. Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_damping:1 +msgid "The default damping of the joint drive. Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.converters.UrdfConverterCfg.default_drive_damping:5 +msgid "" +"If ``override_joint_dynamics`` is True, the values parsed from the URDF " +"joint tag ``\"\"`` are used. Otherwise, it is " +"overridden by the configured value." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.po new file mode 100644 index 0000000000..0a88dab914 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.po @@ -0,0 +1,2066 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:2 +msgid "omni.isaac.lab.sim" +msgstr "" + +#: of omni.isaac.lab.sim:1 +msgid "Sub-package containing simulation-specific functionalities." +msgstr "" + +#: of omni.isaac.lab.sim:3 +msgid "These include:" +msgstr "" + +#: of omni.isaac.lab.sim:5 +msgid "Ability to spawn different objects and materials into Omniverse" +msgstr "" + +#: of omni.isaac.lab.sim:6 +msgid "Define and modify various schemas on USD prims" +msgstr "" + +#: of omni.isaac.lab.sim:7 +msgid "" +"Converters to obtain USD file from other file formats (such as URDF, OBJ," +" STL, FBX)" +msgstr "" + +#: of omni.isaac.lab.sim:8 +msgid "Utility class to control the simulator" +msgstr "" + +#: of omni.isaac.lab.sim:11 +msgid "" +"Currently, only a subset of all possible schemas and prims in Omniverse " +"are supported. We are expanding the these set of functions on a need " +"basis. In case, there are specific prims or schemas that you would like " +"to include, please open an issue on GitHub as a feature request " +"elaborating on the required application." +msgstr "" + +#: of omni.isaac.lab.sim:16 +msgid "" +"To make it convenient to use the module, we recommend importing the " +"module as follows:" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:7 +msgid "Submodules" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +msgid ":py:obj:`converters `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +msgid "Sub-module containing converters for converting various file types to USD." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +msgid ":py:obj:`schemas `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +msgid "Sub-module containing utilities for schemas used in Omniverse." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +msgid ":py:obj:`spawners `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +msgid "Sub-module containing utilities for creating prims in Omniverse." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 +msgid ":py:obj:`utils `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:14::1 of +#: omni.isaac.lab.sim.utils:1 +msgid "Sub-module with USD-related utilities." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:16 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:22::1 +msgid ":py:obj:`SimulationContext `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:22::1 of +#: omni.isaac.lab.sim.simulation_context.SimulationContext:1 +msgid "" +"A class to control simulation-related events such as physics stepping and" +" rendering." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:22::1 +msgid ":py:obj:`SimulationCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:22::1 of +#: omni.isaac.lab.sim.simulation_cfg.SimulationCfg:1 +msgid "Configuration for simulation physics." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:22::1 +msgid ":py:obj:`PhysxCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:22::1 of +#: omni.isaac.lab.sim.simulation_cfg.PhysxCfg:1 +msgid "Configuration for PhysX solver-related parameters." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:24 +msgid "Functions" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:27::1 +msgid "" +":py:obj:`simulation_context.build_simulation_context " +"`\\ " +"\\(\\[...\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:27::1 of +#: omni.isaac.lab.sim.simulation_context.build_simulation_context:1 +msgid "Context manager to build a simulation context with the provided settings." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:30 +msgid "Simulation Context" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:1 +msgid "Bases: :py:class:`~omni.isaac.core.simulation_context.SimulationContext`" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:3 +msgid "" +"The simulation context helps control various simulation aspects. This " +"includes:" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:5 +msgid "" +"configure the simulator with different settings such as the physics time-" +"step, the number of physics substeps, and the physics solver parameters " +"(for more information, see :class:`omni.isaac.lab.sim.SimulationCfg`)" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:7 +msgid "playing, pausing, stepping and stopping the simulation" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:8 +msgid "" +"adding and removing callbacks to different simulation events such as " +"physics stepping, rendering, etc." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:10 +msgid "" +"This class inherits from the " +":class:`omni.isaac.core.simulation_context.SimulationContext` class and " +"adds additional functionalities such as setting up the simulation context" +" with a configuration object, exposing other commonly used simulator-" +"related functions, and performing version checks of Isaac Sim to ensure " +"compatibility between releases." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:15 +msgid "" +"The simulation context is a singleton object. This means that there can " +"only be one instance of the simulation context at any given time. This is" +" enforced by the parent class. Therefore, it is not possible to create " +"multiple instances of the simulation context. Instead, the simulation " +"context can be accessed using the ``instance()`` method." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:21 +msgid "" +"Since we only support the `PyTorch `_ backend for " +"simulation, the simulation context is configured to use the ``torch`` " +"backend by default. This means that all the data structures used in the " +"simulation are ``torch.Tensor`` objects." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:25 +msgid "The simulation context can be used in two different modes of operations:" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:27 +msgid "" +"**Standalone python script**: In this mode, the user has full control " +"over the simulation and can trigger stepping events synchronously (i.e. " +"as a blocking call). In this case the user has to manually call " +":meth:`step` step the physics simulation and :meth:`render` to render the" +" scene." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:31 +msgid "" +"**Omniverse extension**: In this mode, the user has limited control over " +"the simulation stepping and all the simulation events are triggered " +"asynchronously (i.e. as a non-blocking call). In this case, the user can " +"only trigger the simulation to start, pause, and stop. The simulation " +"takes care of stepping the physics simulation and rendering the scene." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:36 +msgid "" +"Based on above, for most functions in this class there is an equivalent " +"function that is suffixed with ``_async``. The ``_async`` functions are " +"used in the Omniverse extension mode and the non-``_async`` functions are" +" used in the standalone python script mode." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:1 +msgid "**Classes:**" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:1::1 +msgid ":py:obj:`RenderMode `\\" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext:1::1 +msgid "Different rendering modes for the simulation." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext:1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1 +msgid "**Methods:**" +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(\\[cfg\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.__init__:1 +msgid "Creates a simulation context to control the simulator." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid ":py:obj:`has_gui `\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.has_gui:1 +msgid "Returns whether the simulation has a GUI enabled." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +":py:obj:`has_rtx_sensors " +"`\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.has_rtx_sensors:1 +msgid "Returns whether the simulation has any RTX-rendering related sensors." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +":py:obj:`is_fabric_enabled " +"`\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.is_fabric_enabled:1 +msgid "Returns whether the fabric interface is enabled." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +":py:obj:`get_version " +"`\\ \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.get_version:1 +msgid "Returns the version of the simulator." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +":py:obj:`set_camera_view " +"`\\ \\(eye\\, " +"target\\[\\, camera\\_prim\\_path\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.set_camera_view:1 +msgid "Set the location and target of the viewport camera in the stage." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +":py:obj:`set_render_mode " +"`\\ \\(mode\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.set_render_mode:1 +msgid "Change the current render mode of the simulation." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +":py:obj:`set_setting " +"`\\ \\(name\\, value\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.set_setting:1 +msgid "Set simulation settings using the Carbonite SDK." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +":py:obj:`get_setting " +"`\\ \\(name\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.get_setting:1 +msgid "Read the simulation setting using the Carbonite SDK." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +":py:obj:`step `\\ " +"\\(\\[render\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.step:1 +msgid "Steps the simulation." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +":py:obj:`render `\\ " +"\\(\\[mode\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.render:1 +msgid "" +"Refreshes the rendering components including UI elements and view-ports " +"depending on the render mode." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1 +msgid "Bases: :py:class:`~enum.IntEnum`" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:3 +msgid "" +"Render modes correspond to how the viewport and other UI elements (such " +"as listeners to keyboard or mouse events) are updated. There are three " +"main components that can be updated when the simulation is rendered:" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:6 +msgid "" +"**UI elements and other extensions**: These are UI elements (such as " +"buttons, sliders, etc.) and other extensions that are running in the " +"background that need to be updated when the simulation is running." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:8 +msgid "" +"**Cameras**: These are typically based on Hydra textures and are used to " +"render the scene from different viewpoints. They can be attached to a " +"viewport or be used independently to render the scene." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:10 +msgid "**Viewports**: These are windows where you can see the rendered scene." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:12 +msgid "" +"Updating each of the above components has a different overhead. For " +"example, updating the viewports is computationally expensive compared to " +"updating the UI elements. Therefore, it is useful to be able to control " +"what is updated when the simulation is rendered. This is where the render" +" mode comes in. There are four different render modes:" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:17 +msgid "" +":attr:`NO_GUI_OR_RENDERING`: The simulation is running without a GUI and " +"off-screen rendering flag is disabled, so none of the above are updated." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:19 +msgid "" +":attr:`NO_RENDERING`: No rendering, where only 1 is updated at a lower " +"rate." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:20 +msgid "" +":attr:`PARTIAL_RENDERING`: Partial rendering, where only 1 and 2 are " +"updated." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:21 +msgid "" +":attr:`FULL_RENDERING`: Full rendering, where everything (1, 2, 3) is " +"updated." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_cfg.PhysxCfg:1 +#: omni.isaac.lab.sim.simulation_cfg.SimulationCfg:1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1 +msgid "**Attributes:**" +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +":py:obj:`NO_GUI_OR_RENDERING " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +"The simulation is running without a GUI and off-screen rendering is " +"disabled." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +":py:obj:`NO_RENDERING " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_RENDERING:1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "No rendering, where only other UI elements are updated at a lower rate." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +":py:obj:`PARTIAL_RENDERING " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.SimulationContext.RenderMode.PARTIAL_RENDERING:1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +"Partial rendering, where the simulation cameras and UI elements are " +"updated." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +":py:obj:`FULL_RENDERING " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.SimulationContext.RenderMode.FULL_RENDERING:1 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.RenderMode:1::1 +msgid "" +"Full rendering, where all the simulation viewports, cameras and UI " +"elements are updated." +msgstr "" + +#: of +#: omni.isaac.lab.sim.SimulationContext.RenderMode.NO_GUI_OR_RENDERING:1::1 +msgid "" +":py:obj:`__new__ " +"`\\ \\(value\\)" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.__init__ +#: omni.isaac.lab.sim.simulation_context.SimulationContext.get_setting +#: omni.isaac.lab.sim.simulation_context.SimulationContext.render +#: omni.isaac.lab.sim.simulation_context.SimulationContext.set_camera_view +#: omni.isaac.lab.sim.simulation_context.SimulationContext.set_render_mode +#: omni.isaac.lab.sim.simulation_context.SimulationContext.set_setting +#: omni.isaac.lab.sim.simulation_context.SimulationContext.step +#: omni.isaac.lab.sim.simulation_context.build_simulation_context +#: omni.isaac.lab.sim.utils.apply_nested +#: omni.isaac.lab.sim.utils.bind_physics_material +#: omni.isaac.lab.sim.utils.bind_visual_material omni.isaac.lab.sim.utils.clone +#: omni.isaac.lab.sim.utils.export_prim_to_file +#: omni.isaac.lab.sim.utils.find_first_matching_prim +#: omni.isaac.lab.sim.utils.find_global_fixed_joint_prim +#: omni.isaac.lab.sim.utils.find_matching_prim_paths +#: omni.isaac.lab.sim.utils.find_matching_prims +#: omni.isaac.lab.sim.utils.get_all_matching_child_prims +#: omni.isaac.lab.sim.utils.get_first_matching_child_prim +#: omni.isaac.lab.sim.utils.make_uninstanceable +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema +#: omni.isaac.lab.sim.utils.select_usd_variants +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.__init__:3 +msgid "" +"The configuration of the simulation. Defaults to None, in which case the " +"default configuration is used." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.has_gui:3 +msgid "True if the simulation has a GUI enabled either locally or live-streamed." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.has_rtx_sensors:3 +msgid "" +"This function returns the value of the simulation parameter " +"``\"/isaaclab/render/rtx_sensors\"``. The parameter is set to True when " +"instances of RTX-related sensors (cameras or LiDARs) are created using " +"Isaac Lab's sensor classes." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.has_rtx_sensors:7 +msgid "True if the simulation has RTX sensors (such as USD Cameras or LiDARs)." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.has_rtx_sensors:9 +msgid "For more information, please check `NVIDIA RTX documentation`_." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.is_fabric_enabled:3 +msgid "" +"When fabric interface is enabled, USD read/write operations are disabled." +" Instead all applications read and write the simulation state directly " +"from the fabric interface. This reduces a lot of overhead that occurs " +"during USD read/write operations." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.is_fabric_enabled:7 +msgid "For more information, please check `Fabric documentation`_." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.get_version:3 +msgid "" +"This is a wrapper around the ``omni.isaac.version.get_version()`` " +"function." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.get_version:5 +msgid "The returned tuple contains the following information:" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.get_version:7 +msgid "Major version (int): This is the year of the release (e.g. 2022)." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.get_version:8 +msgid "Minor version (int): This is the half-year of the release (e.g. 1 or 2)." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.get_version:9 +msgid "Patch version (int): This is the patch number of the release (e.g. 0)." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.set_camera_view:5 +msgid "" +"This is a wrapper around the " +":math:`omni.isaac.core.utils.viewports.set_camera_view` function. It is " +"provided here for convenience to reduce the amount of imports needed." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.set_camera_view:8 +msgid "The location of the camera eye." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.set_camera_view:9 +msgid "The location of the camera target." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.set_camera_view:10 +msgid "" +"The path to the camera primitive in the stage. Defaults to " +"\"/OmniverseKit_Persp\"." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.render:7 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.set_render_mode:3 +msgid "" +"Please see :class:`RenderMode` for more information on the different " +"render modes." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.set_render_mode:6 +msgid "" +"When no GUI is available (locally or livestreamed), we do not need to " +"choose whether the viewport needs to render or not (since there is no " +"GUI). Thus, in this case, calling the function will not change the render" +" mode." +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.set_render_mode:10 +msgid "The rendering mode. If different than SimulationContext's rendering mode," +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.set_render_mode +#: omni.isaac.lab.sim.utils.apply_nested +#: omni.isaac.lab.sim.utils.bind_physics_material +#: omni.isaac.lab.sim.utils.bind_visual_material +#: omni.isaac.lab.sim.utils.export_prim_to_file +#: omni.isaac.lab.sim.utils.find_first_matching_prim +#: omni.isaac.lab.sim.utils.find_global_fixed_joint_prim +#: omni.isaac.lab.sim.utils.find_matching_prim_paths +#: omni.isaac.lab.sim.utils.find_matching_prims +#: omni.isaac.lab.sim.utils.get_all_matching_child_prims +#: omni.isaac.lab.sim.utils.get_first_matching_child_prim +#: omni.isaac.lab.sim.utils.make_uninstanceable +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema +#: omni.isaac.lab.sim.utils.select_usd_variants +msgid "Raises" +msgstr "" + +#: of +#: omni.isaac.lab.sim.simulation_context.SimulationContext.set_render_mode:14 +msgid "If the input mode is not supported." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.set_setting:4 +msgid "" +"If the input setting name does not exist, it will be created. If it does " +"exist, the value will be overwritten. Please make sure to use the correct" +" setting name." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.set_setting:7 +msgid "" +"To understand the settings interface, please refer to the `Carbonite SDK " +"`_ documentation." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.get_setting:3 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.set_setting:11 +msgid "The name of the setting." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.get_setting:5 +#: omni.isaac.lab.sim.simulation_context.SimulationContext.set_setting:12 +msgid "The value of the setting." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.get_setting +#: omni.isaac.lab.sim.utils.apply_nested omni.isaac.lab.sim.utils.clone +#: omni.isaac.lab.sim.utils.find_first_matching_prim +#: omni.isaac.lab.sim.utils.find_global_fixed_joint_prim +#: omni.isaac.lab.sim.utils.find_matching_prim_paths +#: omni.isaac.lab.sim.utils.find_matching_prims +#: omni.isaac.lab.sim.utils.get_all_matching_child_prims +#: omni.isaac.lab.sim.utils.get_first_matching_child_prim +msgid "Returns" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.step:4 +msgid "" +"This function blocks if the timeline is paused. It only returns when the " +"timeline is playing." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.step:6 +msgid "" +"Whether to render the scene after stepping the physics simulation. If set" +" to False, the scene is not rendered and only the physics simulation is " +"stepped." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.render:3 +msgid "" +"This function is used to refresh the rendering components of the " +"simulation. This includes updating the view-ports, UI elements, and other" +" extensions (besides physics simulation) that are running in the " +"background. The rendering components are refreshed based on the render " +"mode." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.SimulationContext.render:9 +msgid "" +"The rendering mode. Defaults to None, in which case the current rendering" +" mode is used." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:37 +msgid "Simulation Configuration" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_cfg.PhysxCfg:1 +#: omni.isaac.lab.sim.simulation_cfg.SimulationCfg:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "" +":py:obj:`physics_prim_path " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "The prim path where the USD PhysicsScene is created." +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`dt `\\" +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "The physics simulation time-step (in seconds)." +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "" +":py:obj:`render_interval " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "The number of physics simulation steps per rendering step." +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`gravity `\\" +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "The gravity vector (in m/s^2)." +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "" +":py:obj:`enable_scene_query_support " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "Enable/disable scene query support for collision shapes." +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`use_fabric `\\" +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "Enable/disable reading of physics buffers directly." +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "" +":py:obj:`disable_contact_processing " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "Enable/disable contact processing." +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "" +":py:obj:`use_gpu_pipeline " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "Enable/disable GPU pipeline." +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "The device for running the simulation/environment." +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid ":py:obj:`physx `\\" +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "PhysX solver settings." +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "" +":py:obj:`physics_material " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1::1 +msgid "Default physics material settings for rigid bodies." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.physics_prim_path:1 +msgid "" +"The prim path where the USD PhysicsScene is created. Default is " +"\"/physicsScene\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.dt:1 +msgid "The physics simulation time-step (in seconds). Default is 0.0167 seconds." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.render_interval:1 +msgid "The number of physics simulation steps per rendering step. Default is 1." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.gravity:1 +msgid "The gravity vector (in m/s^2). Default is (0.0, 0.0, -9.81)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.gravity:3 +msgid "If set to (0.0, 0.0, 0.0), gravity is disabled." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support:1 +msgid "Enable/disable scene query support for collision shapes. Default is False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support:3 +msgid "" +"This flag allows performing collision queries (raycasts, sweeps, and " +"overlaps) on actors and attached shapes in the scene. This is useful for " +"implementing custom collision detection logic outside of the physics " +"engine." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support:7 +msgid "" +"If set to False, the physics engine does not create the scene query " +"manager and the scene query functionality will not be available. However," +" this provides some performance speed-up." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.SimulationCfg.enable_scene_query_support:12 +msgid "" +"This flag is overridden to True inside the :class:`SimulationContext` " +"class when running the simulation with the GUI enabled. This is to allow " +"certain GUI features to work properly." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.use_fabric:1 +msgid "Enable/disable reading of physics buffers directly. Default is True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.use_fabric:3 +msgid "" +"When running the simulation, updates in the states in the scene is " +"normally synchronized with USD. This leads to an overhead in reading the " +"data and does not scale well with massive parallelization. This flag " +"allows disabling the synchronization and reading the data directly from " +"the physics buffers." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.use_fabric:7 +msgid "" +"It is recommended to set this flag to :obj:`True` when running the " +"simulation with a large number of primitives in the scene." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.use_fabric:12 +msgid "" +"When enabled, the GUI will not update the physics parameters in real-" +"time. To enable real-time updates, please set this flag to :obj:`False`." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.SimulationCfg.disable_contact_processing:1 +msgid "Enable/disable contact processing. Default is False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.SimulationCfg.disable_contact_processing:3 +msgid "" +"By default, the physics engine processes all the contacts in the scene. " +"However, reporting this contact information can be expensive due to its " +"combinatorial complexity. This flag allows disabling the contact " +"processing and querying the contacts manually by the user over a limited " +"set of primitives in the scene." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.SimulationCfg.disable_contact_processing:9 +msgid "" +"It is required to set this flag to :obj:`True` when using the TensorAPIs " +"for contact reporting." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.use_gpu_pipeline:1 +msgid "Enable/disable GPU pipeline. Default is True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.use_gpu_pipeline:3 +msgid "If set to False, the physics data will be read as CPU buffers." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.device:1 +msgid "" +"The device for running the simulation/environment. Default is " +"``\"cuda:0\"``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.physx:1 +msgid "PhysX solver settings. Default is PhysxCfg()." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.physics_material:1 +msgid "" +"Default physics material settings for rigid bodies. Default is " +"RigidBodyMaterialCfg()." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.physics_material:3 +msgid "" +"The physics engine defaults to this physics material for all the rigid " +"body prims that do not have any physics material specified on them." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.SimulationCfg.physics_material:6 +msgid "" +"The material is created at the path: " +"``{physics_prim_path}/defaultMaterial``." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_cfg.PhysxCfg:3 +msgid "" +"These parameters are used to configure the PhysX solver. For more " +"information, see the `PhysX 5 SDK documentation`_." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_cfg.PhysxCfg:6 +msgid "" +"PhysX 5 supports GPU-accelerated physics simulation. This is enabled by " +"default, but can be disabled through the flag `use_gpu`. Unlike CPU " +"PhysX, the GPU simulation feature is not able to dynamically grow all the" +" buffers. Therefore, it is necessary to provide a reasonable estimate of " +"the buffer sizes for GPU features. If insufficient buffer sizes are " +"provided, the simulation will fail with errors and lead to adverse " +"behaviors. The buffer sizes can be adjusted through the `gpu_*` " +"parameters." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`use_gpu `\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Enable/disable GPU accelerated dynamics simulation." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`solver_type `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.solver_type:1 +#: omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "The type of solver to use.Default is 1 (TGS)." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`min_position_iteration_count " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +"Minimum number of solver position iterations (rigid bodies, cloth, " +"particles etc.)." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`max_position_iteration_count " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +"Maximum number of solver position iterations (rigid bodies, cloth, " +"particles etc.)." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`min_velocity_iteration_count " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`max_velocity_iteration_count " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid ":py:obj:`enable_ccd `\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +"Enable a second broad-phase pass that makes it possible to prevent " +"objects from tunneling through each other." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`enable_stabilization " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Enable/disable additional stabilization pass in solver." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`enable_enhanced_determinism " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Enable/disable improved determinism at the expense of performance." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`bounce_threshold_velocity " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Relative velocity threshold for contacts to bounce (in m/s)." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`friction_offset_threshold " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Threshold for contact point to experience friction force (in m)." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`friction_correlation_distance " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +"Distance threshold for merging contacts into a single friction anchor " +"point (in m)." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`gpu_max_rigid_contact_count " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Size of rigid contact stream buffer allocated in pinned host memory." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`gpu_max_rigid_patch_count " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +"Size of the rigid contact patch stream buffer allocated in pinned host " +"memory." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`gpu_found_lost_pairs_capacity " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Capacity of found and lost buffers allocated in GPU global memory." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`gpu_found_lost_aggregate_pairs_capacity " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +"Capacity of found and lost buffers in aggregate system allocated in GPU " +"global memory." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`gpu_total_aggregate_pairs_capacity " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +"Capacity of total number of aggregate pairs allocated in GPU global " +"memory." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`gpu_collision_stack_size " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Size of the collision stack buffer allocated in pinned host memory." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`gpu_heap_capacity " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Initial capacity of the GPU and pinned host memory heaps." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`gpu_temp_buffer_capacity " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Capacity of temp buffer allocated in pinned host memory." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`gpu_max_num_partitions " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Limitation for the partitions in the GPU dynamics pipeline." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`gpu_max_soft_body_contacts " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Size of soft body contacts stream buffer allocated in pinned host memory." +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "" +":py:obj:`gpu_max_particle_contacts " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.PhysxCfg.use_gpu:1::1 +msgid "Size of particle contacts stream buffer allocated in pinned host memory." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:1 +msgid "Enable/disable GPU accelerated dynamics simulation. Default is True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.use_gpu:3 +msgid "" +"This enables GPU-accelerated implementations for broad-phase collision " +"checks, contact generation, shape and body management, and constrained " +"solver." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.solver_type:3 +msgid "Available solvers:" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.solver_type:5 +msgid ":obj:`0`: PGS (Projective Gauss-Seidel)" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.solver_type:6 +msgid ":obj:`1`: TGS (Truncated Gauss-Seidel)" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.PhysxCfg.min_position_iteration_count:1 +msgid "" +"Minimum number of solver position iterations (rigid bodies, cloth, " +"particles etc.). Default is 1." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.PhysxCfg.max_position_iteration_count:5 +#: omni.isaac.lab.sim.PhysxCfg.min_position_iteration_count:5 +msgid "" +"Each physics actor in Omniverse specifies its own solver iteration count." +" The solver takes the number of iterations specified by the actor with " +"the highest iteration and clamps it to the range " +"``[min_position_iteration_count, max_position_iteration_count]``." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.PhysxCfg.max_position_iteration_count:1 +#: omni.isaac.lab.sim.PhysxCfg.max_velocity_iteration_count:1 +msgid "" +"Maximum number of solver position iterations (rigid bodies, cloth, " +"particles etc.). Default is 255." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.PhysxCfg.min_velocity_iteration_count:1 +msgid "" +"Minimum number of solver position iterations (rigid bodies, cloth, " +"particles etc.). Default is 0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.PhysxCfg.max_velocity_iteration_count:5 +#: omni.isaac.lab.sim.PhysxCfg.min_velocity_iteration_count:5 +msgid "" +"Each physics actor in Omniverse specifies its own solver iteration count." +" The solver takes the number of iterations specified by the actor with " +"the highest iteration and clamps it to the range " +"``[min_velocity_iteration_count, max_velocity_iteration_count]``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.enable_ccd:1 +msgid "" +"Enable a second broad-phase pass that makes it possible to prevent " +"objects from tunneling through each other. Default is False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.enable_stabilization:1 +msgid "Enable/disable additional stabilization pass in solver. Default is True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism:1 +msgid "" +"Enable/disable improved determinism at the expense of performance. " +"Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism:3 +msgid "For more information on PhysX determinism, please check `here`_." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.bounce_threshold_velocity:1 +msgid "" +"Relative velocity threshold for contacts to bounce (in m/s). Default is " +"0.5 m/s." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.friction_offset_threshold:1 +msgid "" +"Threshold for contact point to experience friction force (in m). Default " +"is 0.04 m." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.PhysxCfg.friction_correlation_distance:1 +msgid "" +"Distance threshold for merging contacts into a single friction anchor " +"point (in m). Default is 0.025 m." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_contact_count:1 +msgid "" +"Size of rigid contact stream buffer allocated in pinned host memory. " +"Default is 2 ** 23." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_max_rigid_patch_count:1 +msgid "" +"Size of the rigid contact patch stream buffer allocated in pinned host " +"memory. Default is 5 * 2 ** 15." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity:1 +msgid "" +"Capacity of found and lost buffers allocated in GPU global memory. " +"Default is 2 ** 21." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity:3 +msgid "This is used for the found/lost pair reports in the BP." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_aggregate_pairs_capacity:1 +msgid "" +"Capacity of found and lost buffers in aggregate system allocated in GPU " +"global memory. Default is 2 ** 25." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_aggregate_pairs_capacity:4 +msgid "This is used for the found/lost pair reports in AABB manager." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.PhysxCfg.gpu_total_aggregate_pairs_capacity:1 +msgid "" +"Capacity of total number of aggregate pairs allocated in GPU global " +"memory. Default is 2 ** 21." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_collision_stack_size:1 +msgid "" +"Size of the collision stack buffer allocated in pinned host memory. " +"Default is 2 ** 26." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_heap_capacity:1 +msgid "" +"Initial capacity of the GPU and pinned host memory heaps. Additional " +"memory will be allocated if more memory is required. Default is 2 ** 26." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_temp_buffer_capacity:1 +msgid "" +"Capacity of temp buffer allocated in pinned host memory. Default is 2 ** " +"24." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_max_num_partitions:1 +msgid "Limitation for the partitions in the GPU dynamics pipeline. Default is 8." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_max_num_partitions:3 +msgid "" +"This variable must be power of 2. A value greater than 32 is currently " +"not supported. Range: (1, 32)" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_max_soft_body_contacts:1 +msgid "" +"Size of soft body contacts stream buffer allocated in pinned host memory." +" Default is 2 ** 20." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.PhysxCfg.gpu_max_particle_contacts:1 +msgid "" +"Size of particle contacts stream buffer allocated in pinned host memory. " +"Default is 2 ** 20." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:50 +msgid "Simulation Context Builder" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.build_simulation_context:3 +msgid "" +"This function facilitates the creation of a simulation context and " +"provides flexibility in configuring various aspects of the simulation, " +"such as time step, gravity, device, and scene elements like ground plane " +"and lighting." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.build_simulation_context:7 +msgid "" +"If :attr:`sim_cfg` is None, then an instance of :class:`SimulationCfg` is" +" created with default settings, with parameters overwritten based on " +"arguments to the function." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.build_simulation_context:10 +msgid "An example usage of the context manager function:" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.build_simulation_context:22 +msgid "Whether to create a new stage. Defaults to True." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.build_simulation_context:23 +msgid "Whether to enable gravity in the simulation. Defaults to True." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.build_simulation_context:24 +msgid "Device to run the simulation on. Defaults to \"cuda:0\"." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.build_simulation_context:25 +msgid "Time step for the simulation: Defaults to 0.01." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.build_simulation_context:26 +msgid "" +":class:`omni.isaac.lab.sim.SimulationCfg` to use for the simulation. " +"Defaults to None." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.build_simulation_context:27 +msgid "Whether to add a ground plane to the simulation. Defaults to False." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.build_simulation_context:28 +msgid "Whether to add a dome light to the simulation. Defaults to False." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.build_simulation_context:29 +msgid "" +"Whether to automatically add a dome light to the simulation if the " +"simulation has a GUI. Defaults to False. This is useful for debugging " +"tests in the GUI." +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.build_simulation_context +msgid "Yields" +msgstr "" + +#: of omni.isaac.lab.sim.simulation_context.build_simulation_context:32 +msgid "The simulation context to use for the simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.rst:55 +msgid "Utilities" +msgstr "" + +#: of omni.isaac.lab.sim.utils:1 +msgid "**Functions:**" +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +":py:obj:`safe_set_attribute_on_usd_schema " +"`\\ " +"\\(schema\\_api\\, ...\\)" +msgstr "" + +#: of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Set the value of an attribute on its USD schema if it exists." +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +":py:obj:`safe_set_attribute_on_usd_prim " +"`\\ \\(prim\\, " +"...\\)" +msgstr "" + +#: of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim:1 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Set the value of a attribute on its USD prim." +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +":py:obj:`apply_nested `\\ " +"\\(func\\)" +msgstr "" + +#: of omni.isaac.lab.sim.utils.apply_nested:1 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Decorator to apply a function to all prims under a specified prim-path." +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid ":py:obj:`clone `\\ \\(func\\)" +msgstr "" + +#: of omni.isaac.lab.sim.utils.clone:1 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +"Decorator for cloning a prim based on matching prim paths of the prim's " +"parent." +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +":py:obj:`bind_visual_material " +"`\\ \\(prim\\_path\\, " +"material\\_path\\)" +msgstr "" + +#: of omni.isaac.lab.sim.utils.bind_visual_material:1 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Bind a visual material to a prim." +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +":py:obj:`bind_physics_material " +"`\\ \\(prim\\_path\\, " +"material\\_path\\)" +msgstr "" + +#: of omni.isaac.lab.sim.utils.bind_physics_material:1 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Bind a physics material to a prim." +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +":py:obj:`export_prim_to_file " +"`\\ \\(path\\, " +"source\\_prim\\_path\\)" +msgstr "" + +#: of omni.isaac.lab.sim.utils.export_prim_to_file:1 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Exports a prim from a given stage to a USD file." +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +":py:obj:`make_uninstanceable " +"`\\ \\(prim\\_path\\[\\, " +"stage\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sim.utils.make_uninstanceable:1 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +"Check if a prim and its descendants are instanced and make them " +"uninstanceable." +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +":py:obj:`get_first_matching_child_prim " +"`\\ " +"\\(prim\\_path\\, ...\\)" +msgstr "" + +#: of omni.isaac.lab.sim.utils.get_first_matching_child_prim:1 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +"Recursively get the first USD Prim at the path string that passes the " +"predicate function" +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +":py:obj:`get_all_matching_child_prims " +"`\\ " +"\\(prim\\_path\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sim.utils.get_all_matching_child_prims:1 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +"Performs a search starting from the root and returns all the prims " +"matching the predicate." +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +":py:obj:`find_first_matching_prim " +"`\\ " +"\\(prim\\_path\\_regex\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_first_matching_prim:1 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Find the first matching prim in the stage based on input regex expression." +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +":py:obj:`find_matching_prims " +"`\\ " +"\\(prim\\_path\\_regex\\[\\, stage\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_matching_prims:1 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "Find all the matching prims in the stage based on input regex expression." +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +":py:obj:`find_matching_prim_paths " +"`\\ " +"\\(prim\\_path\\_regex\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_matching_prim_paths:1 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +"Find all the matching prim paths in the stage based on input regex " +"expression." +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +":py:obj:`find_global_fixed_joint_prim " +"`\\ " +"\\(prim\\_path\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:1 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +"Find the fixed joint prim under the specified prim path that connects the" +" target to the simulation world." +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +msgid "" +":py:obj:`select_usd_variants " +"`\\ \\(prim\\_path\\, " +"variants\\[\\, stage\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:1::1 +#: omni.isaac.lab.sim.utils.select_usd_variants:1 +msgid "Sets the variant selections from the specified variant sets on a USD prim." +msgstr "" + +#: of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:3 +msgid "" +"A USD API schema serves as an interface or API for authoring and " +"extracting a set of attributes. They typically derive from the " +":class:`pxr.Usd.SchemaBase` class. This function checks if the attribute " +"exists on the schema and sets the value of the attribute if it exists." +msgstr "" + +#: of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:7 +msgid "The USD schema to set the attribute on." +msgstr "" + +#: of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim:8 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:8 +msgid "The name of the attribute." +msgstr "" + +#: of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim:9 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:9 +msgid "The value to set the attribute to." +msgstr "" + +#: of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim:10 +#: omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:10 +msgid "Whether to convert the attribute name to camel case." +msgstr "" + +#: of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_schema:12 +msgid "When the input attribute name does not exist on the provided schema API." +msgstr "" + +#: of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim:3 +msgid "" +"The function creates a new attribute if it does not exist on the prim. " +"This is because in some cases (such as with shaders), their attributes " +"are not exposed as USD prim properties that can be altered. This function" +" allows us to set the value of the attributes in these cases." +msgstr "" + +#: of omni.isaac.lab.sim.utils.safe_set_attribute_on_usd_prim:7 +msgid "The USD prim to set the attribute on." +msgstr "" + +#: of omni.isaac.lab.sim.utils.apply_nested:3 +msgid "" +"The function iterates over the provided prim path and all its children to" +" apply input function to all prims under the specified prim path." +msgstr "" + +#: of omni.isaac.lab.sim.utils.apply_nested:6 +msgid "" +"If the function succeeds to apply to a prim, it will not look at the " +"children of that prim. This is based on the physics behavior that nested " +"schemas are not allowed. For example, a parent prim and its child prim " +"cannot both have a rigid-body schema applied on them, or it is not " +"possible to have nested articulations." +msgstr "" + +#: of omni.isaac.lab.sim.utils.apply_nested:11 +msgid "" +"While traversing the prims under the specified prim path, the function " +"will throw a warning if it does not succeed to apply the function to any " +"prim. This is because the user may have intended to apply the function to" +" a prim that does not have valid attributes, or the prim may be an " +"instanced prim." +msgstr "" + +#: of omni.isaac.lab.sim.utils.apply_nested:15 +msgid "" +"The function to apply to all prims under a specified prim-path. The " +"function must take the prim-path and other arguments. It should return a " +"boolean indicating whether the function succeeded or not." +msgstr "" + +#: of omni.isaac.lab.sim.utils.apply_nested:19 +msgid "" +"The wrapped function that applies the function to all prims under a " +"specified prim-path." +msgstr "" + +#: of omni.isaac.lab.sim.utils.apply_nested:21 +msgid "If the prim-path does not exist on the stage." +msgstr "" + +#: of omni.isaac.lab.sim.utils.clone:3 +msgid "" +"The decorator checks if the parent prim path matches any prim paths in " +"the stage. If so, it clones the spawned prim at each matching prim path. " +"For example, if the input prim path is: ``/World/Table_[0-9]/Bottle``, " +"the decorator will clone the prim at each matching prim path of the " +"parent prim: ``/World/Table_0/Bottle``, ``/World/Table_1/Bottle``, etc." +msgstr "" + +#: of omni.isaac.lab.sim.utils.clone:10 +msgid "" +"For matching prim paths, the decorator assumes that valid prims exist for" +" all matching prim paths. In case no matching prim paths are found, the " +"decorator raises a ``RuntimeError``." +msgstr "" + +#: of omni.isaac.lab.sim.utils.clone:13 +msgid "The function to decorate." +msgstr "" + +#: of omni.isaac.lab.sim.utils.clone:15 +msgid "" +"The decorated function that spawns the prim and clones it at each " +"matching prim path. It returns the spawned source prim, i.e., the first " +"prim in the list of matching prim paths." +msgstr "" + +#: of omni.isaac.lab.sim.utils.bind_visual_material:3 +msgid "This function is a wrapper around the USD command `BindMaterialCommand`_." +msgstr "" + +#: of omni.isaac.lab.sim.utils.bind_physics_material:8 +#: omni.isaac.lab.sim.utils.bind_visual_material:6 +msgid "" +"The function is decorated with :meth:`apply_nested` to allow applying the" +" function to a prim path and all its descendants." +msgstr "" + +#: of omni.isaac.lab.sim.utils.bind_physics_material:13 +#: omni.isaac.lab.sim.utils.bind_visual_material:11 +msgid "The prim path where to apply the material." +msgstr "" + +#: of omni.isaac.lab.sim.utils.bind_physics_material:14 +#: omni.isaac.lab.sim.utils.bind_visual_material:12 +msgid "The prim path of the material to apply." +msgstr "" + +#: of omni.isaac.lab.sim.utils.bind_physics_material:15 +#: omni.isaac.lab.sim.utils.bind_visual_material:13 +msgid "" +"The stage where the prim and material exist. Defaults to None, in which " +"case the current stage is used." +msgstr "" + +#: of omni.isaac.lab.sim.utils.bind_physics_material:17 +#: omni.isaac.lab.sim.utils.bind_visual_material:15 +msgid "" +"Whether the material should override the material of its descendants. " +"Defaults to True." +msgstr "" + +#: of omni.isaac.lab.sim.utils.bind_physics_material:20 +#: omni.isaac.lab.sim.utils.bind_visual_material:18 +msgid "If the provided prim paths do not exist on stage." +msgstr "" + +#: of omni.isaac.lab.sim.utils.bind_physics_material:3 +msgid "" +"`Physics material`_ can be applied only to a prim with physics-enabled on" +" them. This includes having collision APIs, or deformable body APIs, or " +"being a particle system. In case the prim does not have any of these " +"APIs, the function will not apply the material and return False." +msgstr "" + +#: of omni.isaac.lab.sim.utils.export_prim_to_file:3 +msgid "" +"The function creates a new layer at the provided path and copies the prim" +" to the layer. It sets the copied prim as the default prim in the target " +"layer. Additionally, it updates the stage up-axis and meters-per-unit to " +"match the current stage." +msgstr "" + +#: of omni.isaac.lab.sim.utils.export_prim_to_file:7 +msgid "The filepath path to export the prim to." +msgstr "" + +#: of omni.isaac.lab.sim.utils.export_prim_to_file:8 +msgid "The prim path to export." +msgstr "" + +#: of omni.isaac.lab.sim.utils.export_prim_to_file:9 +msgid "" +"The prim path to set as the default prim in the target layer. Defaults to" +" None, in which case the source prim path is used." +msgstr "" + +#: of omni.isaac.lab.sim.utils.export_prim_to_file:11 +#: omni.isaac.lab.sim.utils.find_first_matching_prim:4 +#: omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:13 +#: omni.isaac.lab.sim.utils.find_matching_prim_paths:4 +#: omni.isaac.lab.sim.utils.find_matching_prims:4 +#: omni.isaac.lab.sim.utils.get_all_matching_child_prims:8 +#: omni.isaac.lab.sim.utils.get_first_matching_child_prim:5 +#: omni.isaac.lab.sim.utils.make_uninstanceable:10 +msgid "" +"The stage where the prim exists. Defaults to None, in which case the " +"current stage is used." +msgstr "" + +#: of omni.isaac.lab.sim.utils.export_prim_to_file:14 +msgid "If the prim paths are not global (i.e: do not start with '/')." +msgstr "" + +#: of omni.isaac.lab.sim.utils.make_uninstanceable:3 +msgid "" +"This function checks if the prim at the specified prim path and its " +"descendants are instanced. If so, it makes the respective prim " +"uninstanceable by disabling instancing on the prim." +msgstr "" + +#: of omni.isaac.lab.sim.utils.make_uninstanceable:6 +msgid "" +"This is useful when we want to modify the properties of a prim that is " +"instanced. For example, if we want to apply a different material on an " +"instanced prim, we need to make the prim uninstanceable first." +msgstr "" + +#: of omni.isaac.lab.sim.utils.make_uninstanceable:9 +msgid "The prim path to check." +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_first_matching_prim:8 +#: omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:17 +#: omni.isaac.lab.sim.utils.find_matching_prim_paths:8 +#: omni.isaac.lab.sim.utils.find_matching_prims:8 +#: omni.isaac.lab.sim.utils.get_all_matching_child_prims:12 +#: omni.isaac.lab.sim.utils.get_first_matching_child_prim:9 +#: omni.isaac.lab.sim.utils.make_uninstanceable:12 +msgid "If the prim path is not global (i.e: does not start with '/')." +msgstr "" + +#: of omni.isaac.lab.sim.utils.get_first_matching_child_prim:3 +msgid "The path of the prim in the stage." +msgstr "" + +#: of omni.isaac.lab.sim.utils.get_first_matching_child_prim:4 +msgid "" +"The function to test the prims against. It takes a prim as input and " +"returns a boolean." +msgstr "" + +#: of omni.isaac.lab.sim.utils.get_first_matching_child_prim:7 +msgid "" +"The first prim on the path that passes the predicate. If no prim passes " +"the predicate, it returns None." +msgstr "" + +#: of omni.isaac.lab.sim.utils.get_all_matching_child_prims:3 +msgid "The root prim path to start the search from." +msgstr "" + +#: of omni.isaac.lab.sim.utils.get_all_matching_child_prims:4 +msgid "" +"The predicate that checks if the prim matches the desired criteria. It " +"takes a prim as input and returns a boolean. Defaults to a function that " +"always returns True." +msgstr "" + +#: of omni.isaac.lab.sim.utils.get_all_matching_child_prims:6 +msgid "" +"The maximum depth for traversal, should be bigger than zero if specified." +" Defaults to None (i.e: traversal happens till the end of the tree)." +msgstr "" + +#: of omni.isaac.lab.sim.utils.get_all_matching_child_prims:10 +msgid "A list containing all the prims matching the predicate." +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_first_matching_prim:3 +#: omni.isaac.lab.sim.utils.find_matching_prim_paths:3 +#: omni.isaac.lab.sim.utils.find_matching_prims:3 +msgid "The regex expression for prim path." +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_first_matching_prim:6 +msgid "" +"The first prim that matches input expression. If no prim matches, returns" +" None." +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_matching_prims:6 +msgid "A list of prims that match input expression." +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_matching_prim_paths:6 +msgid "A list of prim paths that match input expression." +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:3 +msgid "" +"A joint is a connection between two bodies. A fixed joint is a joint that" +" does not allow relative motion between the two bodies. When a fixed " +"joint has only one target body, it is considered to attach the body to " +"the simulation world." +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:7 +msgid "" +"This function finds the fixed joint prim that has only one target under " +"the specified prim path. If no such fixed joint prim exists, it returns " +"None." +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:10 +msgid "The prim path to search for the fixed joint prim." +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:11 +msgid "" +"Whether to consider only enabled fixed joints. Defaults to False. If " +"False, then all joints (enabled or disabled) are considered." +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:15 +msgid "" +"The fixed joint prim that has only one target. If no such fixed joint " +"prim exists, it returns None." +msgstr "" + +#: of omni.isaac.lab.sim.utils.find_global_fixed_joint_prim:18 +msgid "If the prim path does not exist on the stage." +msgstr "" + +#: of omni.isaac.lab.sim.utils.select_usd_variants:3 +msgid "" +"`USD Variants`_ are a very powerful tool in USD composition that allows " +"prims to have different options on a single asset. This can be done by " +"modifying variations of the same prim parameters per variant option in a " +"set. This function acts as a script-based utility to set the variant " +"selections for the specified variant sets on a USD prim." +msgstr "" + +#: of omni.isaac.lab.sim.utils.select_usd_variants:8 +msgid "" +"The function takes a dictionary or a config class mapping variant set " +"names to variant selections. For instance, if we have a prim at " +"``\"/World/Table\"`` with two variant sets: \"color\" and \"size\", we " +"can set the variant selections as follows:" +msgstr "" + +#: of omni.isaac.lab.sim.utils.select_usd_variants:22 +msgid "Alternatively, we can use a config class to define the variant selections:" +msgstr "" + +#: of omni.isaac.lab.sim.utils.select_usd_variants:36 +msgid "The path of the USD prim." +msgstr "" + +#: of omni.isaac.lab.sim.utils.select_usd_variants:37 +msgid "" +"A dictionary or config class mapping variant set names to variant " +"selections." +msgstr "" + +#: of omni.isaac.lab.sim.utils.select_usd_variants:38 +msgid "The USD stage. Defaults to None, in which case, the current stage is used." +msgstr "" + +#: of omni.isaac.lab.sim.utils.select_usd_variants:40 +msgid "If the prim at the specified path is not valid." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.schemas.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.schemas.po new file mode 100644 index 0000000000..30af3c18a3 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.schemas.po @@ -0,0 +1,1235 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:2 +msgid "omni.isaac.lab.sim.schemas" +msgstr "" + +#: of omni.isaac.lab.sim.schemas:1 +msgid "Sub-module containing utilities for schemas used in Omniverse." +msgstr "" + +#: of omni.isaac.lab.sim.schemas:3 +msgid "" +"We wrap the USD schemas for PhysX and USD Physics in a more convenient " +"API for setting the parameters from Python. This is done so that " +"configuration objects can define the schema properties to set and make it" +" easier to tune the physics parameters without requiring to open " +"Omniverse Kit and manually set the parameters into the respective USD " +"attributes." +msgstr "" + +#: of omni.isaac.lab.sim.schemas:10 +msgid "" +"Schema properties cannot be applied on prims that are prototypes as they " +"are read-only prims. This particularly affects instanced assets where " +"some of the prims (usually the visual and collision meshes) are " +"prototypes so that the instancing can be done efficiently." +msgstr "" + +#: of omni.isaac.lab.sim.schemas:14 +msgid "" +"In such cases, it is assumed that the prototypes have sim-ready " +"properties on them that don't need to be modified. Trying to set " +"properties into prototypes will throw a warning saying that the prim is a" +" prototype and the properties cannot be set." +msgstr "" + +#: of omni.isaac.lab.sim.schemas:18 +msgid "The schemas are defined in the following links:" +msgstr "" + +#: of omni.isaac.lab.sim.schemas:20 +msgid "" +"`UsdPhysics schema " +"`_" +msgstr "" + +#: of omni.isaac.lab.sim.schemas:21 +msgid "" +"`PhysxSchema schema " +"`_" +msgstr "" + +#: of omni.isaac.lab.sim.schemas:23 +msgid "Locally, the schemas are defined in the following files:" +msgstr "" + +#: of omni.isaac.lab.sim.schemas:25 +msgid "``_isaac_sim/kit/extsPhysics/omni.usd.schema.physics/plugins/UsdPhysics/resources/UsdPhysics/schema.usda``" +msgstr "" + +#: of omni.isaac.lab.sim.schemas:26 +msgid "``_isaac_sim/kit/extsPhysics/omni.usd.schema.physx/plugins/PhysxSchema/resources/PhysxSchema/schema.usda``" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +msgid "" +":py:obj:`ArticulationRootPropertiesCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 of +#: omni.isaac.lab.sim.schemas.schemas_cfg.ArticulationRootPropertiesCfg:1 +msgid "Properties to apply to the root of an articulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +msgid "" +":py:obj:`RigidBodyPropertiesCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 of +#: omni.isaac.lab.sim.schemas.schemas_cfg.RigidBodyPropertiesCfg:1 +msgid "Properties to apply to a rigid body." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +msgid "" +":py:obj:`CollisionPropertiesCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 of +#: omni.isaac.lab.sim.schemas.schemas_cfg.CollisionPropertiesCfg:1 +msgid "Properties to apply to colliders in a rigid body." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +msgid "" +":py:obj:`MassPropertiesCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 of +#: omni.isaac.lab.sim.schemas.schemas_cfg.MassPropertiesCfg:1 +msgid "Properties to define explicit mass properties of a rigid body." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +msgid "" +":py:obj:`JointDrivePropertiesCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 of +#: omni.isaac.lab.sim.schemas.schemas_cfg.JointDrivePropertiesCfg:1 +msgid "Properties to define the drive mechanism of a joint." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 +msgid "" +":py:obj:`FixedTendonPropertiesCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:16::1 of +#: omni.isaac.lab.sim.schemas.schemas_cfg.FixedTendonPropertiesCfg:1 +msgid "Properties to define fixed tendons of an articulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:18 +msgid "Functions" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid "" +":py:obj:`define_articulation_root_properties " +"`\\ " +"\\(...\\[\\, stage\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 of +#: omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:1 +msgid "" +"Apply the articulation root schema on the input prim and set its " +"properties." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid "" +":py:obj:`modify_articulation_root_properties " +"`\\ " +"\\(...\\[\\, stage\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 of +#: omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:1 +msgid "Modify PhysX parameters for an articulation root prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid "" +":py:obj:`define_rigid_body_properties " +"`\\ " +"\\(prim\\_path\\, cfg\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 of +#: omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:1 +msgid "Apply the rigid body schema on the input prim and set its properties." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid "" +":py:obj:`modify_rigid_body_properties " +"`\\ " +"\\(prim\\_path\\, cfg\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 of +#: omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:1 +msgid "Modify PhysX parameters for a rigid body prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid "" +":py:obj:`activate_contact_sensors " +"`\\ " +"\\(prim\\_path\\[\\, ...\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 of +#: omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:1 +msgid "" +"Activate the contact sensor on all rigid bodies under a specified prim " +"path." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid "" +":py:obj:`define_collision_properties " +"`\\ " +"\\(prim\\_path\\, cfg\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 of +#: omni.isaac.lab.sim.schemas.schemas.define_collision_properties:1 +msgid "Apply the collision schema on the input prim and set its properties." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid "" +":py:obj:`modify_collision_properties " +"`\\ " +"\\(prim\\_path\\, cfg\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 of +#: omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:1 +msgid "Modify PhysX properties of collider prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid "" +":py:obj:`define_mass_properties " +"`\\ \\(prim\\_path\\, " +"cfg\\[\\, stage\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 of +#: omni.isaac.lab.sim.schemas.schemas.define_mass_properties:1 +msgid "Apply the mass schema on the input prim and set its properties." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid "" +":py:obj:`modify_mass_properties " +"`\\ \\(prim\\_path\\, " +"cfg\\[\\, stage\\]\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 of +#: omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:1 +msgid "Set properties for the mass of a rigid body prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid "" +":py:obj:`modify_joint_drive_properties " +"`\\ " +"\\(prim\\_path\\, ...\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 of +#: omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:1 +msgid "Modify PhysX parameters for a joint prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 +msgid "" +":py:obj:`modify_fixed_tendon_properties " +"`\\ " +"\\(prim\\_path\\, cfg\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:31::1 of +#: omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:1 +msgid "Modify PhysX parameters for a fixed tendon attachment prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:34 +msgid "Articulation Root" +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas_cfg.ArticulationRootPropertiesCfg:3 +msgid "See :meth:`modify_articulation_root_properties` for more information." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas_cfg.ArticulationRootPropertiesCfg:6 +#: omni.isaac.lab.sim.schemas.schemas_cfg.CollisionPropertiesCfg:6 +#: omni.isaac.lab.sim.schemas.schemas_cfg.FixedTendonPropertiesCfg:6 +#: omni.isaac.lab.sim.schemas.schemas_cfg.JointDrivePropertiesCfg:6 +#: omni.isaac.lab.sim.schemas.schemas_cfg.MassPropertiesCfg:6 +#: omni.isaac.lab.sim.schemas.schemas_cfg.RigidBodyPropertiesCfg:6 +msgid "" +"If the values are None, they are not modified. This is useful when you " +"want to set only a subset of the properties and leave the rest as-is." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas_cfg.ArticulationRootPropertiesCfg:1 +#: omni.isaac.lab.sim.schemas.schemas_cfg.CollisionPropertiesCfg:1 +#: omni.isaac.lab.sim.schemas.schemas_cfg.FixedTendonPropertiesCfg:1 +#: omni.isaac.lab.sim.schemas.schemas_cfg.JointDrivePropertiesCfg:1 +#: omni.isaac.lab.sim.schemas.schemas_cfg.MassPropertiesCfg:1 +#: omni.isaac.lab.sim.schemas.schemas_cfg.RigidBodyPropertiesCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid "" +":py:obj:`articulation_enabled " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1 +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid "Whether to enable or disable articulation." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid "" +":py:obj:`enabled_self_collisions " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.enabled_self_collisions:1 +msgid "Whether to enable or disable self-collisions." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid "" +":py:obj:`solver_position_iteration_count " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_position_iteration_count:1 +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.solver_velocity_iteration_count:1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_position_iteration_count:1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.solver_velocity_iteration_count:1 +msgid "Solver position iteration counts for the body." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid "" +":py:obj:`solver_velocity_iteration_count " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid "" +":py:obj:`sleep_threshold " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.sleep_threshold:1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.sleep_threshold:1 +msgid "" +"Mass-normalized kinetic energy threshold below which an actor may go to " +"sleep." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid "" +":py:obj:`stabilization_threshold " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.stabilization_threshold:1 +msgid "" +"The mass-normalized kinetic energy threshold below which an articulation " +"may participate in stabilization." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +msgid "" +":py:obj:`fix_root_link " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.articulation_enabled:1::1 +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link:1 +msgid "Whether to fix the root link of the articulation." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link:3 +msgid "If set to None, the root link is not modified." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link:4 +msgid "" +"If the articulation already has a fixed root link, this flag will enable " +"or disable the fixed joint." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link:5 +msgid "" +"If the articulation does not have a fixed root link, this flag will " +"create a fixed joint between the world frame and the root link. The joint" +" is created with the name \"FixedJoint\" under the articulation prim." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg.fix_root_link:9 +msgid "" +"This is a non-USD schema property. It is handled by the " +":meth:`modify_articulation_root_properties` function." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:3 +msgid "" +"See :func:`modify_articulation_root_properties` for more details on how " +"the properties are set." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors +#: omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties +#: omni.isaac.lab.sim.schemas.schemas.define_collision_properties +#: omni.isaac.lab.sim.schemas.schemas.define_mass_properties +#: omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties +#: omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties +#: omni.isaac.lab.sim.schemas.schemas.modify_collision_properties +#: omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties +#: omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties +#: omni.isaac.lab.sim.schemas.schemas.modify_mass_properties +#: omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:5 +msgid "The prim path where to apply the articulation root schema." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:6 +#: omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:29 +msgid "The configuration for the articulation root." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:9 +#: omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:7 +#: omni.isaac.lab.sim.schemas.schemas.define_collision_properties:7 +#: omni.isaac.lab.sim.schemas.schemas.define_mass_properties:7 +#: omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:7 +#: omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:30 +#: omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:19 +#: omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:18 +#: omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:22 +#: omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:22 +#: omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:21 +msgid "" +"The stage where to find the prim. Defaults to None, in which case the " +"current stage is used." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors +#: omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties +#: omni.isaac.lab.sim.schemas.schemas.define_collision_properties +#: omni.isaac.lab.sim.schemas.schemas.define_mass_properties +#: omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties +#: omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties +#: omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties +#: omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties +msgid "Raises" +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:10 +#: omni.isaac.lab.sim.schemas.schemas.define_collision_properties:10 +#: omni.isaac.lab.sim.schemas.schemas.define_mass_properties:10 +#: omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:10 +msgid "When the prim path is not valid." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.define_articulation_root_properties:11 +#: omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:11 +msgid "When the prim already has conflicting API schemas." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:3 +msgid "" +"The `articulation root`_ marks the root of an articulation tree. For " +"floating articulations, this should be on the root body. For fixed " +"articulations, this API can be on a direct or indirect parent of the root" +" joint which is fixed to the world." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:7 +msgid "" +"The schema comprises of attributes that belong to the " +"`ArticulationRootAPI`_ and `PhysxArticulationAPI`_. schemas. The latter " +"contains the PhysX parameters for the articulation root." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:10 +msgid "" +"The properties are applied to the articulation root prim. The common " +"properties (such as solver position and velocity iteration counts, sleep " +"threshold, stabilization threshold) take precedence over those specified " +"in the rigid body schemas for all the rigid bodies in the articulation." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:15 +msgid "" +"When the attribute " +":attr:`schemas_cfg.ArticulationRootPropertiesCfg.fix_root_link` is set to" +" True, a fixed joint is created between the root link and the world frame" +" (if it does not already exist). However, to deal with physics parser " +"limitations, the articulation root schema needs to be applied to the " +"parent of the root link." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:21 +msgid "" +"This function is decorated with :func:`apply_nested` that set the " +"properties to all the prims (that have the schema applied on them) under " +"the input prim path." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:28 +msgid "The prim path to the articulation root." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties +#: omni.isaac.lab.sim.schemas.schemas.modify_collision_properties +#: omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties +#: omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties +#: omni.isaac.lab.sim.schemas.schemas.modify_mass_properties +#: omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties +msgid "Returns" +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:33 +#: omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:22 +#: omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:21 +#: omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:25 +#: omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:25 +#: omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:24 +msgid "True if the properties were successfully set, False otherwise." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_articulation_root_properties:35 +msgid "When the root prim is not a rigid body and a fixed joint is to be created." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:44 +msgid "Rigid Body" +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas_cfg.RigidBodyPropertiesCfg:3 +msgid "See :meth:`modify_rigid_body_properties` for more information." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`rigid_body_enabled " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "Whether to enable or disable the rigid body." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`kinematic_enabled " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled:1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "Determines whether the body is kinematic or not." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`disable_gravity " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.disable_gravity:1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "Disable gravity for the actor." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`linear_damping " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.linear_damping:1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "Linear damping for the body." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`angular_damping " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.angular_damping:1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "Angular damping for the body." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`max_linear_velocity " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_linear_velocity:1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "Maximum linear velocity for rigid bodies (in m/s)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`max_angular_velocity " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_angular_velocity:1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "Maximum angular velocity for rigid bodies (in deg/s)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`max_depenetration_velocity " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_depenetration_velocity:1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +"Maximum depenetration velocity permitted to be introduced by the solver " +"(in m/s)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`max_contact_impulse " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.max_contact_impulse:1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "The limit on the impulse that may be applied at a contact." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`enable_gyroscopic_forces " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.enable_gyroscopic_forces:1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "Enables computation of gyroscopic forces on the rigid body." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`retain_accelerations " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.retain_accelerations:1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "Carries over forces/accelerations over sub-steps." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`solver_position_iteration_count " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`solver_velocity_iteration_count " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`sleep_threshold " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +msgid "" +":py:obj:`stabilization_threshold " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.rigid_body_enabled:1::1 +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.stabilization_threshold:1 +msgid "" +"The mass-normalized kinetic energy threshold below which an actor may " +"participate in stabilization." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled:3 +msgid "" +"A kinematic body is a body that is moved through animated poses or " +"through user defined poses. The simulation still derives velocities for " +"the kinematic body based on the external motion." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled:6 +msgid "" +"For more information on kinematic bodies, please refer to the " +"`documentation `_." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:3 +msgid "" +"See :func:`modify_rigid_body_properties` for more details on how the " +"properties are set." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.define_collision_properties:5 +#: omni.isaac.lab.sim.schemas.schemas.define_mass_properties:5 +#: omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:5 +msgid "The prim path where to apply the rigid body schema." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.define_rigid_body_properties:6 +#: omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:20 +msgid "The configuration for the rigid body." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:3 +msgid "" +"A `rigid body`_ is a single body that can be simulated by PhysX. It can " +"be either dynamic or kinematic. A dynamic body responds to forces and " +"collisions. A `kinematic body`_ can be moved by the user, but does not " +"respond to forces. They are similar to having static bodies that can be " +"moved around." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:7 +msgid "" +"The schema comprises of attributes that belong to the `RigidBodyAPI`_ and" +" `PhysxRigidBodyAPI`_. schemas. The latter contains the PhysX parameters " +"for the rigid body." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:11 +#: omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:10 +#: omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:15 +#: omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:11 +msgid "" +"This function is decorated with :func:`apply_nested` that sets the " +"properties to all the prims (that have the schema applied on them) under " +"the input prim path." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_rigid_body_properties:19 +msgid "The prim path to the rigid body." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:3 +msgid "" +"This function adds the PhysX contact report API to all rigid bodies under" +" the specified prim path. It also sets the force threshold beyond which " +"the contact sensor reports the contact. The contact reporting API can " +"only be added to rigid bodies." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:7 +msgid "The prim path under which to search and prepare contact sensors." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:8 +msgid "The threshold for the contact sensor. Defaults to 0.0." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:12 +#: omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:23 +#: omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:27 +msgid "If the input prim path is not valid." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.activate_contact_sensors:13 +msgid "If there are no rigid bodies under the prim path." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:55 +msgid "Collision" +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas_cfg.CollisionPropertiesCfg:3 +msgid "See :meth:`modify_collision_properties` for more information." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +msgid "" +":py:obj:`collision_enabled " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1 +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +msgid "Whether to enable or disable collisions." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +msgid "" +":py:obj:`contact_offset " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.contact_offset:1 +msgid "Contact offset for the collision shape (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +msgid "" +":py:obj:`rest_offset " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.rest_offset:1 +msgid "Rest offset for the collision shape (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +msgid "" +":py:obj:`torsional_patch_radius " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.torsional_patch_radius:1 +msgid "Radius of the contact patch for applying torsional friction (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +msgid "" +":py:obj:`min_torsional_patch_radius " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.collision_enabled:1::1 +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.min_torsional_patch_radius:1 +msgid "" +"Minimum radius of the contact patch for applying torsional friction (in " +"m)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.contact_offset:3 +msgid "" +"The collision detector generates contact points as soon as two shapes get" +" closer than the sum of their contact offsets. This quantity should be " +"non-negative which means that contact generation can potentially start " +"before the shapes actually penetrate." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.rest_offset:3 +msgid "" +"The rest offset quantifies how close a shape gets to others at rest, At " +"rest, the distance between two vertically stacked objects is the sum of " +"their rest offsets. If a pair of shapes have a positive rest offset, the " +"shapes will be separated at rest by an air gap." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.CollisionPropertiesCfg.torsional_patch_radius:3 +msgid "" +"It is used to approximate rotational friction introduced by the " +"compression of contacting surfaces. If the radius is zero, no torsional " +"friction is applied." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.define_collision_properties:3 +msgid "" +"See :func:`modify_collision_properties` for more details on how the " +"properties are set." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.define_collision_properties:6 +#: omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:18 +msgid "The configuration for the collider." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:3 +msgid "" +"These properties are based on the `UsdPhysics.CollisionAPI`_ and " +"`PhysxSchema.PhysxCollisionAPI`_ schemas. For more information on the " +"properties, please refer to the official documentation." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:6 +msgid "" +"Tuning these parameters influence the contact behavior of the rigid body." +" For more information on tune them and their effect on the simulation, " +"please refer to the `PhysX documentation `__." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_collision_properties:17 +msgid "The prim path of parent." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:65 +msgid "Mass" +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas_cfg.MassPropertiesCfg:3 +msgid "See :meth:`modify_mass_properties` for more information." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass:1::1 +msgid ":py:obj:`mass `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass:1 +#: omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass:1::1 +msgid "The mass of the rigid body (in kg)." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass:1::1 +msgid ":py:obj:`density `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.MassPropertiesCfg.density:1 +#: omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass:1::1 +msgid "The density of the rigid body (in kg/m^3)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.MassPropertiesCfg.mass:3 +msgid "" +"If non-zero, the mass is ignored and the density is used to compute the " +"mass." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.schemas.MassPropertiesCfg.density:3 +msgid "" +"The density indirectly defines the mass of the rigid body. It is " +"generally computed using the collision approximation of the body." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.define_mass_properties:3 +msgid "" +"See :func:`modify_mass_properties` for more details on how the properties" +" are set." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.define_mass_properties:6 +#: omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:21 +msgid "The configuration for the mass properties." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:3 +msgid "" +"These properties are based on the `UsdPhysics.MassAPI` schema. If the " +"mass is not defined, the density is used to compute the mass. However, in" +" that case, a collision approximation of the rigid body is used to " +"compute the density. For more information on the properties, please refer" +" to the `documentation " +"`__." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:10 +msgid "" +"The mass of an object can be specified in multiple ways and have several " +"conflicting settings that are resolved based on precedence. Please make " +"sure to understand the precedence rules before using this property." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_mass_properties:20 +msgid "The prim path of the rigid body." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:75 +msgid "Joint Drive" +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas_cfg.JointDrivePropertiesCfg:3 +msgid "See :meth:`modify_joint_drive_properties` for more information." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type:1::1 +msgid "" +":py:obj:`drive_type " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type:1 +#: omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type:1::1 +msgid "Joint drive type to apply." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.JointDrivePropertiesCfg.drive_type:3 +msgid "" +"If the drive type is \"force\", then the joint is driven by a force. If " +"the drive type is \"acceleration\", then the joint is driven by an " +"acceleration (usually used for kinematic joints)." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:3 +msgid "" +"This function checks if the input prim is a prismatic or revolute joint " +"and applies the joint drive schema on it. If the joint is a tendon (i.e.," +" it has the `PhysxTendonAxisAPI`_ schema applied on it), then the joint " +"drive schema is not applied." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:7 +msgid "" +"Based on the configuration, this method modifies the properties of the " +"joint drive. These properties are based on the `UsdPhysics.DriveAPI`_ " +"schema. For more information on the properties, please refer to the " +"official documentation." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:13 +msgid "" +"We highly recommend modifying joint properties of articulations through " +"the functionalities in the :mod:`omni.isaac.lab.actuators` module. The " +"methods here are for setting simulation low-level properties only." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:20 +msgid "The prim path where to apply the joint drive schema." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_joint_drive_properties:21 +msgid "The configuration for the joint drive." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.schemas.rst:84 +msgid "Fixed Tendon" +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas_cfg.FixedTendonPropertiesCfg:3 +msgid "See :meth:`modify_fixed_tendon_properties` for more information." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid "" +":py:obj:`tendon_enabled " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1 +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid "Whether to enable or disable the tendon." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid "" +":py:obj:`stiffness " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.stiffness:1 +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid "Spring stiffness term acting on the tendon's length." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid "" +":py:obj:`damping " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.damping:1 +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid "" +"The damping term acting on both the tendon length and the tendon-length " +"limits." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid "" +":py:obj:`limit_stiffness " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.limit_stiffness:1 +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid "Limit stiffness term acting on the tendon's length limits." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid "" +":py:obj:`offset " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.offset:1 +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid "Length offset term for the tendon." +msgstr "" + +#: of +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid "" +":py:obj:`rest_length " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.rest_length:1 +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.tendon_enabled:1::1 +msgid "Spring rest length of the tendon." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.schemas.FixedTendonPropertiesCfg.offset:3 +msgid "" +"It defines an amount to be added to the accumulated length computed for " +"the tendon. This allows the application to actuate the tendon by " +"shortening or lengthening it." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:3 +msgid "" +"A `fixed tendon`_ can be used to link multiple degrees of freedom of " +"articulation joints through length and limit constraints. For instance, " +"it can be used to set up an equality constraint between a driven and " +"passive revolute joints." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:7 +msgid "" +"The schema comprises of attributes that belong to the " +"`PhysxTendonAxisRootAPI`_ schema." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:16 +msgid "The prim path to the tendon attachment." +msgstr "" + +#: of omni.isaac.lab.sim.schemas.schemas.modify_fixed_tendon_properties:17 +msgid "The configuration for the tendon attachment." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.spawners.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.spawners.po new file mode 100644 index 0000000000..dcc8cea53d --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.sim.spawners.po @@ -0,0 +1,3443 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:2 +msgid "omni.isaac.lab.sim.spawners" +msgstr "" + +#: of omni.isaac.lab.sim.spawners:1 +msgid "Sub-module containing utilities for creating prims in Omniverse." +msgstr "" + +#: of omni.isaac.lab.sim.spawners:3 +msgid "" +"Spawners are used to create prims into Omniverse simulator. At their " +"core, they are calling the USD Python API or Omniverse Kit Commands to " +"create prims. However, they also provide a convenient interface for " +"creating prims from their respective config classes." +msgstr "" + +#: of omni.isaac.lab.sim.spawners:7 +msgid "There are two main ways of using the spawners:" +msgstr "" + +#: of omni.isaac.lab.sim.spawners:9 +msgid "Using the function from the module" +msgstr "" + +#: of omni.isaac.lab.sim.spawners:23 +msgid "Using the `func` reference in the config class" +msgstr "" + +#: of omni.isaac.lab.sim.spawners:37 +msgid "" +"For convenience, we recommend using the second approach, as it allows to " +"easily change the config class and the function call in a single line of " +"code." +msgstr "" + +#: of omni.isaac.lab.sim.spawners:40 +msgid "" +"Depending on the type of prim, the spawning-functions can also deal with " +"the creation of prims over multiple prim path. These need to be provided " +"as a regex prim path expressions, which are resolved based on the parent " +"prim paths using the :meth:`omni.isaac.lab.sim.utils.clone` function " +"decorator. For example:" +msgstr "" + +#: of omni.isaac.lab.sim.spawners:45 +msgid "" +"``/World/Table_[1,2]/Robot`` will create the prims " +"``/World/Table_1/Robot`` and ``/World/Table_2/Robot`` only if the parent " +"prim ``/World/Table_1`` and ``/World/Table_2`` exist." +msgstr "" + +#: of omni.isaac.lab.sim.spawners:47 +msgid "" +"``/World/Robot_[1,2]`` will **NOT** create the prims ``/World/Robot_1`` " +"and ``/World/Robot_2`` as the prim path expression can be resolved to " +"multiple prims." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:7 +msgid "Submodules" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +msgid ":py:obj:`shapes `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 of +#: omni.isaac.lab.sim.spawners.shapes:1 +msgid "Sub-module for spawning primitive shapes in the simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +msgid ":py:obj:`lights `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 of +#: omni.isaac.lab.sim.spawners.lights:1 +msgid "Sub-module for spawners that spawn lights in the simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +msgid ":py:obj:`sensors `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 of +#: omni.isaac.lab.sim.spawners.sensors:1 +msgid "Sub-module for spawners that spawn sensors in the simulation." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +msgid ":py:obj:`from_files `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 of +#: omni.isaac.lab.sim.spawners.from_files:1 +msgid "Sub-module for spawners that spawn assets from files." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 +msgid ":py:obj:`materials `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:15::1 of +#: omni.isaac.lab.sim.spawners.materials:1 +msgid "Sub-module for spawners that spawn USD-based and PhysX-based materials." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:17 +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:41 +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:97 +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:139 +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:161 +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:192 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:21::1 +msgid ":py:obj:`SpawnerCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:21::1 of +#: omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg:1 +msgid "Configuration parameters for spawning an asset." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:21::1 +msgid "" +":py:obj:`RigidObjectSpawnerCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:21::1 of +#: omni.isaac.lab.sim.spawners.spawner_cfg.RigidObjectSpawnerCfg:1 +msgid "Configuration parameters for spawning a rigid asset." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:24 +msgid "Spawners" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg:3 +msgid "" +"Spawning an asset is done by calling the :attr:`func` function. The " +"function takes in the prim path to spawn the asset at, the configuration " +"instance and transformation, and returns the prim path of the spawned " +"asset." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg:7 +msgid "" +"The function is typically decorated with " +":func:`omni.isaac.lab.sim.spawner.utils.clone` decorator that checks if " +"input prim path is a regex expression and spawns the asset at all " +"matching prims. For this, the decorator uses the Cloner API from Isaac " +"Sim and handles the :attr:`copy_from_source` parameter." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.GroundPlaneCfg:1 +#: omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UsdFileCfg:1 +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.CylinderLightCfg:1 +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.DiskLightCfg:1 +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.DistantLightCfg:1 +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.DomeLightCfg:1 +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.LightCfg:1 +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.SphereLightCfg:1 +#: omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.RigidBodyMaterialCfg:1 +#: omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.GlassMdlCfg:1 +#: omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.MdlFileCfg:1 +#: omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.PreviewSurfaceCfg:1 +#: omni.isaac.lab.sim.spawners.sensors.sensors_cfg.FisheyeCameraCfg:1 +#: omni.isaac.lab.sim.spawners.sensors.sensors_cfg.PinholeCameraCfg:1 +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CapsuleCfg:1 +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ConeCfg:1 +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CuboidCfg:1 +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CylinderCfg:1 +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ShapeCfg:1 +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.SphereCfg:1 +#: omni.isaac.lab.sim.spawners.spawner_cfg.RigidObjectSpawnerCfg:1 +#: omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid ":py:obj:`func `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1 +#: omni.isaac.lab.sim.spawners.SpawnerCfg.func:1 +#: omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid "Function to use for spawning the asset." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid ":py:obj:`visible `\\" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid "Whether the spawned asset should be visible." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid "" +":py:obj:`semantic_tags " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid "List of semantic tags to add to the spawned asset." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid "" +":py:obj:`copy_from_source " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.SpawnerCfg.func:1::1 +msgid "Whether to copy the asset from the source prim or inherit it." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:3 +#: omni.isaac.lab.sim.spawners.SpawnerCfg.func:3 +msgid "" +"The function takes in the prim path (or expression) to spawn the asset " +"at, the configuration instance and transformation, and returns the source" +" prim spawned." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.visible:1 +#: omni.isaac.lab.sim.spawners.SpawnerCfg.visible:1 +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1 +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visible:1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visible:1 +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible:1 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.visible:1 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.visible:1 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible:1 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.visible:1 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible:1 +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.visible:1 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.visible:1 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible:1 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible:1 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visible:1 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visible:1 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visible:1 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.visible:1 +msgid "Whether the spawned asset should be visible. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags:1 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags:1 +msgid "" +"List of semantic tags to add to the spawned asset. Defaults to None, " +"which means no semantic tags will be added." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags:4 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags:4 +msgid "" +"The semantic tags follow the `Replicator Semantic` tagging system. Each " +"tag is a tuple of the form ``(type, data)``, where ``type`` is the type " +"of the tag and ``data`` is the semantic label associated with the tag. " +"For example, to annotate a spawned asset in the class avocado, the " +"semantic tag would be ``[(\"class\", \"avocado\")]``." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags:9 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags:9 +msgid "" +"You can specify multiple semantic tags by passing in a list of tags. For " +"example, to annotate a spawned asset in the class avocado and the color " +"green, the semantic tags would be ``[(\"class\", \"avocado\"), " +"(\"color\", \"green\")]``." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.SpawnerCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.semantic_tags:15 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.semantic_tags:15 +msgid "" +"For more information on the semantics filter, see the documentation for " +"the `semantics schema editor`_." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.copy_from_source:1 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.copy_from_source:1 +msgid "" +"Whether to copy the asset from the source prim or inherit it. Defaults to" +" True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.copy_from_source:3 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.copy_from_source:3 +msgid "" +"This parameter is only used when cloning prims. If False, then the asset " +"will be inherited from the source prim, i.e. all USD changes to the " +"source prim will be reflected in the cloned prims." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.SpawnerCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.copy_from_source:8 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.copy_from_source:8 +msgid "" +"This parameter is only supported from Isaac Sim 2023.1 onwards. If you " +"are using an older version of Isaac Sim, this parameter will be ignored." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.spawner_cfg.RigidObjectSpawnerCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg`" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.spawner_cfg.RigidObjectSpawnerCfg:5 +msgid "" +"By default, all properties are set to None. This means that no properties" +" will be added or modified to the prim outside of the properties " +"available by default when spawning the prim." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +msgid "" +":py:obj:`mass_props " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.mass_props:1 +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.mass_props:1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.mass_props:1 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.mass_props:1 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.mass_props:1 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.mass_props:1 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.mass_props:1 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.mass_props:1 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.mass_props:1 +msgid "Mass properties." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +msgid "" +":py:obj:`rigid_props " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.rigid_props:1 +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.rigid_props:1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.rigid_props:1 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.rigid_props:1 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.rigid_props:1 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.rigid_props:1 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.rigid_props:1 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.rigid_props:1 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.rigid_props:1 +msgid "Rigid body properties." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +msgid "" +":py:obj:`collision_props " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.collision_props:1 +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.collision_props:1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.collision_props:1 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.collision_props:1 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.collision_props:1 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.collision_props:1 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.collision_props:1 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.collision_props:1 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.collision_props:1 +msgid "Properties to apply to all collision meshes." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +msgid "" +":py:obj:`activate_contact_sensors " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.func:1::1 +msgid "Activate contact reporting on all rigid bodies." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.rigid_props:3 +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.rigid_props:3 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.rigid_props:3 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.rigid_props:3 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.rigid_props:3 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.rigid_props:3 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.rigid_props:3 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.rigid_props:3 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.rigid_props:3 +msgid "" +"For making a rigid object static, set the " +":attr:`schemas.RigidBodyPropertiesCfg.kinematic_enabled` as True. This " +"will make the object static and will not be affected by gravity or other " +"forces." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors:1 +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.activate_contact_sensors:1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.activate_contact_sensors:1 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.activate_contact_sensors:1 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.activate_contact_sensors:1 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.activate_contact_sensors:1 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.activate_contact_sensors:1 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.activate_contact_sensors:1 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.activate_contact_sensors:1 +msgid "Activate contact reporting on all rigid bodies. Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors:3 +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.activate_contact_sensors:3 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.activate_contact_sensors:3 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.activate_contact_sensors:3 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.activate_contact_sensors:3 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.activate_contact_sensors:3 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.activate_contact_sensors:3 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.activate_contact_sensors:3 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.activate_contact_sensors:3 +msgid "" +"This adds the PhysxContactReporter API to all the rigid bodies in the " +"given prim path and its children." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:36 +msgid "Shapes" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes:3 +msgid "" +"NVIDIA Omniverse provides various primitive shapes that can be used to " +"create USDGeom prims. Based on the configuration, the spawned prim can " +"be:" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes:6 +msgid "a visual mesh (no physics)" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes:7 +msgid "a static collider (no rigid body)" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes:8 +msgid "a rigid body (with collision and rigid body properties)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +msgid ":py:obj:`ShapeCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 of +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ShapeCfg:1 +msgid "Configuration parameters for a USD Geometry or Geom prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +msgid ":py:obj:`CapsuleCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 of +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CapsuleCfg:1 +msgid "Configuration parameters for a capsule prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +msgid ":py:obj:`ConeCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 of +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ConeCfg:1 +msgid "Configuration parameters for a cone prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +msgid ":py:obj:`CuboidCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 of +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CuboidCfg:1 +msgid "Configuration parameters for a cuboid prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +msgid ":py:obj:`CylinderCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 of +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CylinderCfg:1 +msgid "Configuration parameters for a cylinder prim." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 +msgid ":py:obj:`SphereCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:49::1 of +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.SphereCfg:1 +msgid "Configuration parameters for a sphere prim." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +msgid "" +":py:obj:`visual_material_path " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +msgid "Path to the visual material to use for the prim." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +msgid "" +":py:obj:`visual_material " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material:1 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material:1 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material:1 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material:1 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material:1 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material:1 +msgid "Visual material properties." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +msgid "" +":py:obj:`physics_material_path " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +msgid "Path to the physics material to use for the prim." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +msgid "" +":py:obj:`physics_material " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material:1 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material:1 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material:1 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material:1 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material:1 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1::1 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material:1 +msgid "Physics material properties." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material_path:1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material_path:1 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material_path:1 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material_path:1 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material_path:1 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material_path:1 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:1 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material_path:1 +msgid "Path to the visual material to use for the prim. Defaults to \"material\"." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material_path:3 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material_path:3 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material_path:3 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material_path:3 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material_path:3 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material_path:3 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material_path:3 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material_path:3 +msgid "" +"If the path is relative, then it will be relative to the prim's path. " +"This parameter is ignored if `visual_material` is not None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material:3 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material:3 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visual_material:3 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.visual_material:3 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.visual_material:3 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.visual_material:3 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.visual_material:3 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.visual_material:3 +msgid "If None, then no visual material will be added." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material_path:1 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material_path:1 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material_path:1 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material_path:1 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material_path:1 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material_path:1 +msgid "" +"Path to the physics material to use for the prim. Defaults to " +"\"material\"." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material_path:3 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material_path:3 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material_path:3 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material_path:3 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material_path:3 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material_path:3 +msgid "" +"If the path is relative, then it will be relative to the prim's path. " +"This parameter is ignored if `physics_material` is not None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.physics_material:3 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.physics_material:3 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.physics_material:3 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.physics_material:3 +#: omni.isaac.lab.sim.spawners.shapes.ShapeCfg.physics_material:3 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.physics_material:3 +msgid "If None, then no physics material will be added." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:1 +msgid "Create a USDGeom-based capsule prim with the given attributes." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:3 +msgid "" +"For more information, see `USDGeomCapsule " +"`_." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:11 +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:11 +#: omni.isaac.lab.sim.spawners.lights.lights.spawn_light:6 +#: omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:8 +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:13 +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:12 +#: omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:7 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:6 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:6 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:11 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:6 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:6 +msgid "" +"This function is decorated with :func:`clone` that resolves prim path " +"into list of paths if the input prim path is a regex pattern. This is " +"done to support spawning multiple assets from a single and cloning the " +"USD prim at the given path expression." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane +#: omni.isaac.lab.sim.spawners.lights.lights.spawn_light +#: omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface +#: omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:15 +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:15 +#: omni.isaac.lab.sim.spawners.lights.lights.spawn_light:10 +#: omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:12 +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:17 +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:16 +#: omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:11 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:10 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:10 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:15 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:10 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:10 +msgid "" +"The prim path or pattern to spawn the asset at. If the prim path is a " +"regex pattern, then the asset is spawned at all the matching prim paths." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:17 +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:17 +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:13 +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:19 +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:18 +#: omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:13 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:12 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:12 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:17 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:12 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:12 +msgid "The configuration instance." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:14 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:13 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:13 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:18 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:13 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:13 +msgid "" +"The translation to apply to the prim w.r.t. its parent prim. Defaults to " +"None, in which case this is set to the origin." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:16 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:15 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:15 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:20 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:15 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:15 +msgid "" +"The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent " +"prim. Defaults to None, in which case this is set to identity." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane +#: omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface +#: omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere +msgid "Returns" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:21 +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:20 +#: omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:19 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:18 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:18 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:23 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:18 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:18 +msgid "The created prim." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane +#: omni.isaac.lab.sim.spawners.lights.lights.spawn_light +#: omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface +#: omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere +msgid "Raises" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:23 +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:22 +#: omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:21 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_capsule:20 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:20 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:20 +#: omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:20 +msgid "If a prim already exists at the given path." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CapsuleCfg:1 +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ConeCfg:1 +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CuboidCfg:1 +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CylinderCfg:1 +#: omni.isaac.lab.sim.spawners.shapes.shapes_cfg.SphereCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ShapeCfg`" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CapsuleCfg:3 +msgid "See :meth:`spawn_capsule` for more information." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible:1::1 +msgid ":py:obj:`radius `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.radius:1 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible:1::1 +msgid "Radius of the capsule (in m)." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible:1::1 +msgid ":py:obj:`height `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.height:1 +#: omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible:1::1 +msgid "Height of the capsule (in m)." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible:1::1 +msgid ":py:obj:`axis `\\" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.visible:1::1 +msgid "Axis of the capsule." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CapsuleCfg.axis:1 +msgid "Axis of the capsule. Defaults to \"Z\"." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:1 +msgid "Create a USDGeom-based cone prim with the given attributes." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cone:3 +msgid "" +"For more information, see `USDGeomCone " +"`_." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.ConeCfg:3 +msgid "See :meth:`spawn_cone` for more information." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible:1::1 +msgid ":py:obj:`radius `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.radius:1 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible:1::1 +msgid "Radius of the cone (in m)." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible:1::1 +msgid ":py:obj:`height `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.height:1 +#: omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible:1::1 +msgid "Height of the v (in m)." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible:1::1 +msgid ":py:obj:`axis `\\" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.ConeCfg.visible:1::1 +msgid "Axis of the cone." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.ConeCfg.axis:1 +msgid "Axis of the cone. Defaults to \"Z\"." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:1 +msgid "Create a USDGeom-based cuboid prim with the given attributes." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:3 +msgid "" +"For more information, see `USDGeomCube " +"`_." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cuboid:7 +msgid "" +"Since USD only supports cubes, we set the size of the cube to the minimum" +" of the given size and scale the cube accordingly." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CuboidCfg:3 +msgid "See :meth:`spawn_cuboid` for more information." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.size:1::1 +msgid ":py:obj:`size `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CuboidCfg.size:1 +#: omni.isaac.lab.sim.spawners.shapes.CuboidCfg.size:1::1 +msgid "Size of the cuboid." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:1 +msgid "Create a USDGeom-based cylinder prim with the given attributes." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_cylinder:3 +msgid "" +"For more information, see `USDGeomCylinder " +"`_." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.CylinderCfg:3 +msgid "See :meth:`spawn_cylinder` for more information." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius:1::1 +msgid ":py:obj:`radius `\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible:1::1 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius:1 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius:1::1 +msgid "Radius of the cylinder (in m)." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius:1::1 +msgid ":py:obj:`height `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.height:1 +#: omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius:1::1 +msgid "Height of the cylinder (in m)." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius:1::1 +msgid ":py:obj:`axis `\\" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.radius:1::1 +msgid "Axis of the cylinder." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.CylinderCfg.axis:1 +msgid "Axis of the cylinder. Defaults to \"Z\"." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:1 +msgid "Create a USDGeom-based sphere prim with the given attributes." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes.spawn_sphere:3 +msgid "" +"For more information, see `USDGeomSphere " +"`_." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.shapes_cfg.SphereCfg:3 +msgid "See :meth:`spawn_sphere` for more information." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.shapes.SphereCfg.radius:1::1 +msgid ":py:obj:`radius `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.shapes.SphereCfg.radius:1 +#: omni.isaac.lab.sim.spawners.shapes.SphereCfg.radius:1::1 +msgid "Radius of the sphere (in m)." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:92 +msgid "Lights" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights:3 +msgid "" +"There are various different kinds of lights that can be spawned into the " +"USD stage. Please check the Omniverse documentation for `lighting " +"overview `_." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +msgid ":py:obj:`LightCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 of +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.LightCfg:1 +msgid "Configuration parameters for creating a light in the scene." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +msgid "" +":py:obj:`CylinderLightCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 of +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.CylinderLightCfg:1 +msgid "Configuration parameters for creating a cylinder light in the scene." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +msgid ":py:obj:`DiskLightCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 of +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.DiskLightCfg:1 +msgid "Configuration parameters for creating a disk light in the scene." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +msgid "" +":py:obj:`DistantLightCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 of +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.DistantLightCfg:1 +msgid "Configuration parameters for creating a distant light in the scene." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +msgid ":py:obj:`DomeLightCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 of +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.DomeLightCfg:1 +msgid "Configuration parameters for creating a dome light in the scene." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 +msgid "" +":py:obj:`SphereLightCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:105::1 of +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.SphereLightCfg:1 +msgid "Configuration parameters for creating a sphere light in the scene." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:1 +msgid "" +"Create a light prim at the specified prim path with the specified " +"configuration." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:3 +msgid "" +"The created prim is based on the `USD.LuxLight " +"`_ API." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:12 +msgid "The configuration for the light source." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:13 +msgid "" +"The translation of the prim. Defaults to None, in which case this is set " +"to the origin." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:14 +msgid "" +"The orientation of the prim as (w, x, y, z). Defaults to None, in which " +"case this is set to identity." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.lights.spawn_light:17 +msgid "When a prim already exists at the specified prim path." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.lights_cfg.LightCfg:3 +msgid "" +"Please refer to the documentation on `USD LuxLight " +"`_ for more " +"information." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.lights_cfg.CylinderLightCfg:8 +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.DiskLightCfg:8 +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.DistantLightCfg:8 +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.DomeLightCfg:8 +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.LightCfg:7 +#: omni.isaac.lab.sim.spawners.lights.lights_cfg.SphereLightCfg:8 +msgid "" +"The default values for the attributes are those specified in the their " +"official documentation." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "" +":py:obj:`prim_type " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.prim_type:1 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.prim_type:1 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.prim_type:1 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type:1 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.prim_type:1 +msgid "The prim type name for the light prim." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid ":py:obj:`color `\\" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "The color of emitted light, in energy-linear terms." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "" +":py:obj:`enable_color_temperature " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "Enables color temperature." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "" +":py:obj:`color_temperature " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "Color temperature (in Kelvin) representing the white point." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "" +":py:obj:`normalize " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "Normalizes power by the surface area of the light." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "" +":py:obj:`exposure " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "Scales the power of the light exponentially as a power of 2." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "" +":py:obj:`intensity " +"`\\" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.LightCfg.prim_type:1::1 +msgid "Scales the power of the light linearly." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color:1 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color:1 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color:1 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color:1 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.color:1 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color:1 +msgid "The color of emitted light, in energy-linear terms. Defaults to white." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.enable_color_temperature:1 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.enable_color_temperature:1 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.enable_color_temperature:1 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.enable_color_temperature:1 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.enable_color_temperature:1 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.enable_color_temperature:1 +msgid "Enables color temperature. Defaults to false." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color_temperature:1 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color_temperature:1 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color_temperature:1 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color_temperature:1 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.color_temperature:1 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color_temperature:1 +msgid "" +"Color temperature (in Kelvin) representing the white point. The valid " +"range is [1000, 10000]. Defaults to 6500K." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color_temperature:3 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color_temperature:3 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color_temperature:3 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color_temperature:3 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.color_temperature:3 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color_temperature:3 +msgid "" +"The `color temperature " +"`_ corresponds to the " +"warmth or coolness of light. Warmer light has a lower color temperature, " +"while cooler light has a higher color temperature." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.color_temperature:7 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.color_temperature:7 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.color_temperature:7 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.color_temperature:7 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.color_temperature:7 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.color_temperature:7 +msgid "It only takes effect when :attr:`enable_color_temperature` is true." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.normalize:1 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.normalize:1 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.normalize:1 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.normalize:1 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.normalize:1 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.normalize:1 +msgid "Normalizes power by the surface area of the light. Defaults to false." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.normalize:3 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.normalize:3 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.normalize:3 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.normalize:3 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.normalize:3 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.normalize:3 +msgid "" +"This makes it easier to independently adjust the power and shape of the " +"light, by causing the power to not vary with the area or angular size of " +"the light." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.exposure:1 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.exposure:1 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.exposure:1 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.exposure:1 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.exposure:1 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.exposure:1 +msgid "" +"Scales the power of the light exponentially as a power of 2. Defaults to " +"0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.exposure:3 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.exposure:3 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.exposure:3 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.exposure:3 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.exposure:3 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.exposure:3 +msgid "The result is multiplied against the intensity." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.intensity:1 +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.intensity:1 +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.intensity:1 +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.intensity:1 +#: omni.isaac.lab.sim.spawners.lights.LightCfg.intensity:1 +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.intensity:1 +msgid "Scales the power of the light linearly. Defaults to 1.0." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.lights_cfg.CylinderLightCfg:3 +msgid "" +"A cylinder light is a light source that emits light from a cylinder. It " +"is useful for simulating fluorescent lights. For more information, please" +" refer to the documentation on `USDLux CylinderLight " +"`_." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible:1::1 +msgid "" +":py:obj:`length " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible:1::1 +msgid "Length of the cylinder (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible:1::1 +msgid "" +":py:obj:`radius " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible:1::1 +msgid "" +":py:obj:`treat_as_line " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.visible:1::1 +msgid "Treats the cylinder as a line source, i.e. a zero-radius cylinder." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.length:1 +msgid "Length of the cylinder (in m). Defaults to 1.0m." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.radius:1 +msgid "Radius of the cylinder (in m). Defaults to 0.5m." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.CylinderLightCfg.treat_as_line:1 +msgid "" +"Treats the cylinder as a line source, i.e. a zero-radius cylinder. " +"Defaults to false." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.lights_cfg.DiskLightCfg:3 +msgid "" +"A disk light is a light source that emits light from a disk. It is useful" +" for simulating fluorescent lights. For more information, please refer to" +" the documentation on `USDLux DiskLight " +"`_." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.prim_type:1::1 +msgid "" +":py:obj:`radius " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.DiskLightCfg.prim_type:1::1 +msgid "Radius of the disk (in m)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.sim.spawners.lights.DiskLightCfg.radius:1 +msgid "Radius of the disk (in m). Defaults to 0.5m." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.lights_cfg.DistantLightCfg:3 +msgid "" +"A distant light is a light source that is infinitely far away, and emits " +"parallel rays of light. It is useful for simulating sun/moon light. For " +"more information, please refer to the documentation on `USDLux " +"DistantLight " +"`_." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.prim_type:1::1 +msgid "" +":py:obj:`angle " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.prim_type:1::1 +msgid "Angular size of the light (in degrees)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.angle:1 +msgid "Angular size of the light (in degrees). Defaults to 0.53 degrees." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.DistantLightCfg.angle:3 +msgid "" +"As an example, the Sun is approximately 0.53 degrees as seen from Earth. " +"Higher values broaden the light and therefore soften shadow edges." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.lights_cfg.DomeLightCfg:3 +msgid "" +"A dome light is a light source that emits light inwards from all " +"directions. It is also possible to attach a texture to the dome light, " +"which will be used to emit light. For more information, please refer to " +"the documentation on `USDLux DomeLight " +"`_." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type:1::1 +msgid "" +":py:obj:`texture_file " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type:1::1 +msgid "" +"A color texture to use on the dome, such as an HDR (high dynamic range) " +"texture intended for IBL (image based lighting)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type:1::1 +msgid "" +":py:obj:`texture_format " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type:1::1 +msgid "The parametrization format of the color map file." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type:1::1 +msgid "" +":py:obj:`visible_in_primary_ray " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.prim_type:1::1 +msgid "Whether the dome light is visible in the primary ray." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_file:1 +msgid "" +"A color texture to use on the dome, such as an HDR (high dynamic range) " +"texture intended for IBL (image based lighting). Defaults to None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_file:4 +msgid "If None, the dome will emit a uniform color." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format:1 +msgid "" +"The parametrization format of the color map file. Defaults to " +"\"automatic\"." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format:3 +msgid "Valid values are:" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format:5 +msgid "" +"``\"automatic\"``: Tries to determine the layout from the file itself. " +"For example, Renderman texture files embed an explicit parameterization." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format:6 +msgid "``\"latlong\"``: Latitude as X, longitude as Y." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format:7 +msgid "" +"``\"mirroredBall\"``: An image of the environment reflected in a sphere, " +"using an implicitly orthogonal projection." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format:8 +msgid "" +"``\"angular\"``: Similar to mirroredBall but the radial dimension is " +"mapped linearly to the angle, providing better sampling at the edges." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.texture_format:9 +msgid "" +"``\"cubeMapVerticalCross\"``: A cube map with faces laid out as a " +"vertical cross." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible_in_primary_ray:1 +msgid "Whether the dome light is visible in the primary ray. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.DomeLightCfg.visible_in_primary_ray:3 +msgid "If true, the texture in the sky is visible, otherwise the sky is black." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.lights.lights_cfg.SphereLightCfg:3 +msgid "" +"A sphere light is a light source that emits light outward from a sphere. " +"For more information, please refer to the documentation on `USDLux " +"SphereLight " +"`_." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible:1::1 +msgid "" +":py:obj:`radius " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible:1::1 +msgid "Radius of the sphere." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible:1::1 +msgid "" +":py:obj:`treat_as_point " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.visible:1::1 +msgid "Treats the sphere as a point source, i.e. a zero-radius sphere." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.radius:1 +msgid "Radius of the sphere. Defaults to 0.5m." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.lights.SphereLightCfg.treat_as_point:1 +msgid "" +"Treats the sphere as a point source, i.e. a zero-radius sphere. Defaults " +"to false." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:134 +msgid "Sensors" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.sensors:3 +msgid "Currently, the following sensors are supported:" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.sensors:5 +msgid "" +"Camera: A USD camera prim with settings for pinhole or fisheye " +"projections." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:143::1 +msgid "" +":py:obj:`PinholeCameraCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:143::1 of +#: omni.isaac.lab.sim.spawners.sensors.sensors_cfg.PinholeCameraCfg:1 +msgid "" +"Configuration parameters for a USD camera prim with pinhole camera " +"settings." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:143::1 +msgid "" +":py:obj:`FisheyeCameraCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:143::1 of +#: omni.isaac.lab.sim.spawners.sensors.sensors_cfg.FisheyeCameraCfg:1 +msgid "" +"Configuration parameters for a USD camera prim with `fish-eye camera`_ " +"settings." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:1 +msgid "Create a USD camera prim with given projection type." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.sensors.sensors.spawn_camera:3 +msgid "" +"The function creates various attributes on the camera prim that specify " +"the camera's properties. These are later used by ``omni.replicator.core``" +" to render the scene with the given camera." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.sensors.sensors_cfg.PinholeCameraCfg:3 +msgid "" +"For more information on the parameters, please refer to the `camera " +"documentation `__." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.sensors.sensors_cfg.FisheyeCameraCfg:7 +#: omni.isaac.lab.sim.spawners.sensors.sensors_cfg.PinholeCameraCfg:6 +msgid "" +"The default values are taken from the `Replicator camera " +"`__" +" function." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`projection_type " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Type of projection to use for the camera." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`clipping_range " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Near and far clipping distances (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`focal_length " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Perspective focal length (in cm)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`focus_distance " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Distance from the camera to the focus plane (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`f_stop " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Lens aperture." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`horizontal_aperture " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Horizontal aperture (in mm)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`horizontal_aperture_offset " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Offsets Resolution/Film gate horizontally." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`vertical_aperture_offset " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Offsets Resolution/Film gate vertically." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`lock_camera " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1::1 +msgid "Locks the camera in the Omniverse viewport." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:1 +msgid "Type of projection to use for the camera. Defaults to \"pinhole\"." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.projection_type:3 +msgid "Currently only \"pinhole\" is supported." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.clipping_range:1 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.clipping_range:1 +msgid "Near and far clipping distances (in m). Defaults to (0.01, 1e6)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.clipping_range:3 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.clipping_range:3 +msgid "" +"The minimum clipping range will shift the camera forward by the specified" +" distance. Don't set it too high to avoid issues for distance related " +"data types (e.g., ``distance_to_image_plane``)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focal_length:1 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focal_length:1 +msgid "Perspective focal length (in cm). Defaults to 24.0cm." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focal_length:3 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focal_length:3 +msgid "Longer lens lengths narrower FOV, shorter lens lengths wider FOV." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focus_distance:1 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focus_distance:1 +msgid "Distance from the camera to the focus plane (in m). Defaults to 400.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.focus_distance:3 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.focus_distance:3 +msgid "The distance at which perfect sharpness is achieved." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.f_stop:1 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.f_stop:1 +msgid "Lens aperture. Defaults to 0.0, which turns off focusing." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.f_stop:3 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.f_stop:3 +msgid "" +"Controls Distance Blurring. Lower Numbers decrease focus range, larger " +"numbers increase it." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture:1 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture:1 +msgid "Horizontal aperture (in mm). Defaults to 20.955mm." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture:3 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture:3 +msgid "Emulates sensor/film width on a camera." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture:5 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture:5 +msgid "" +"The default value is the horizontal aperture of a 35 mm spherical " +"projector." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.horizontal_aperture_offset:1 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.horizontal_aperture_offset:1 +msgid "Offsets Resolution/Film gate horizontally. Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.vertical_aperture_offset:1 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.vertical_aperture_offset:1 +msgid "Offsets Resolution/Film gate vertically. Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.lock_camera:1 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.lock_camera:1 +msgid "Locks the camera in the Omniverse viewport. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.lock_camera:3 +#: omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg.lock_camera:3 +msgid "" +"If True, then the camera remains fixed at its configured transform. This " +"is useful when wanting to view the camera output on the GUI and not " +"accidentally moving the camera through the GUI interactions." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.sensors.sensors_cfg.FisheyeCameraCfg:3 +msgid "" +"For more information on the parameters, please refer to the `camera " +"documentation `__." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`projection_type " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`fisheye_nominal_width " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Nominal width of fisheye lens model (in pixels)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`fisheye_nominal_height " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Nominal height of fisheye lens model (in pixels)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`fisheye_optical_centre_x " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Horizontal optical centre position of fisheye lens model (in pixels)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`fisheye_optical_centre_y " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Vertical optical centre position of fisheye lens model (in pixels)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`fisheye_max_fov " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Maximum field of view of fisheye lens model (in degrees)." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`fisheye_polynomial_a " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "First component of fisheye polynomial." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`fisheye_polynomial_b " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Second component of fisheye polynomial." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`fisheye_polynomial_c " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Third component of fisheye polynomial." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`fisheye_polynomial_d " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Fourth component of fisheye polynomial." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`fisheye_polynomial_e " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Fifth component of fisheye polynomial." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "" +":py:obj:`fisheye_polynomial_f " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1::1 +msgid "Sixth component of fisheye polynomial." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:1 +msgid "" +"Type of projection to use for the camera. Defaults to " +"\"fisheye_polynomial\"." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:3 +msgid "Available options:" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:5 +msgid "" +"``\"fisheye_orthographic\"``: Fisheye camera model using orthographic " +"correction." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:6 +msgid "" +"``\"fisheye_equidistant\"``: Fisheye camera model using equidistant " +"correction." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:7 +msgid "" +"``\"fisheye_equisolid\"``: Fisheye camera model using equisolid " +"correction." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:8 +msgid "" +"``\"fisheye_polynomial\"``: Fisheye camera model with " +":math:`360^{\\circ}` spherical projection." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.projection_type:9 +msgid "" +"``\"fisheye_spherical\"``: Fisheye camera model with :math:`360^{\\circ}`" +" full-frame projection." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_width:1 +msgid "Nominal width of fisheye lens model (in pixels). Defaults to 1936.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_nominal_height:1 +msgid "Nominal height of fisheye lens model (in pixels). Defaults to 1216.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_x:1 +msgid "" +"Horizontal optical centre position of fisheye lens model (in pixels). " +"Defaults to 970.94244." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_optical_centre_y:1 +msgid "" +"Vertical optical centre position of fisheye lens model (in pixels). " +"Defaults to 600.37482." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_max_fov:1 +msgid "" +"Maximum field of view of fisheye lens model (in degrees). Defaults to " +"200.0 degrees." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_a:1 +msgid "First component of fisheye polynomial. Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_b:1 +msgid "Second component of fisheye polynomial. Defaults to 0.00245." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_c:1 +msgid "Third component of fisheye polynomial. Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_d:1 +msgid "Fourth component of fisheye polynomial. Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_e:1 +msgid "Fifth component of fisheye polynomial. Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg.fisheye_polynomial_f:1 +msgid "Sixth component of fisheye polynomial. Defaults to 0.0." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:156 +msgid "From Files" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files:3 +msgid "Currently, the following spawners are supported:" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files:5 +msgid ":class:`UsdFileCfg`: Spawn an asset from a USD file." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files:6 +msgid ":class:`UrdfFileCfg`: Spawn an asset from a URDF file." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files:7 +msgid "" +":class:`GroundPlaneCfg`: Spawn a ground plane using the grid-world USD " +"file." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:166::1 +msgid "" +":py:obj:`UrdfFileCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:166::1 of +#: omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UrdfFileCfg:1 +msgid "URDF file to spawn asset from." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:166::1 +msgid ":py:obj:`UsdFileCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:166::1 of +#: omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UsdFileCfg:1 +msgid "USD file to spawn asset from." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:166::1 +msgid "" +":py:obj:`GroundPlaneCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:166::1 of +#: omni.isaac.lab.sim.spawners.from_files.from_files_cfg.GroundPlaneCfg:1 +msgid "Create a ground plane prim." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:1 +msgid "" +"Spawn an asset from a URDF file and override the settings with the given " +"config." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:3 +msgid "" +"It uses the :class:`UrdfConverter` class to create a USD file from URDF. " +"This file is then imported at the specified prim path." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:6 +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:6 +msgid "" +"In case a prim already exists at the given prim path, then the function " +"does not create a new prim or throw an error that the prim already " +"exists. Instead, it just takes the existing prim and overrides the " +"settings with the given config." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:18 +msgid "" +"The translation to apply to the prim w.r.t. its parent prim. Defaults to " +"None, in which case the translation specified in the generated USD file " +"is used." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:20 +msgid "" +"The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent " +"prim. Defaults to None, in which case the orientation specified in the " +"generated USD file is used." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:23 +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:23 +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:19 +msgid "The prim of the spawned asset." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_urdf:25 +msgid "If the URDF file does not exist at the given path." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UrdfFileCfg:3 +msgid "" +"It uses the :class:`UrdfConverter` class to create a USD file from URDF " +"and spawns the imported USD file. See :meth:`spawn_from_urdf` for more " +"information." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UrdfFileCfg:7 +#: omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UsdFileCfg:6 +msgid "" +"The configuration parameters include various properties. If not `None`, " +"these properties are modified on the spawned prim in a nested manner." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.asset_path:1 +msgid "The absolute path to the asset file to convert into USD." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_dir:1 +msgid "" +"The output directory path to store the generated USD file. Defaults to " +"None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_dir:3 +msgid "" +"If None, it is resolved as ``/tmp/IsaacLab/usd_{date}_{time}_{random}``, " +"where the parameters in braces are runtime generated." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_file_name:1 +msgid "The name of the generated usd file. Defaults to None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_file_name:3 +msgid "" +"If None, it is resolved from the asset file name. For example, if the " +"asset file name is ``\"my_asset.urdf\"``, then the generated USD file " +"name is ``\"my_asset.usd\"``." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.usd_file_name:6 +msgid "" +"If the providing file name does not end with \".usd\" or \".usda\", then " +"the extension \".usd\" is appended to the file name." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.force_usd_conversion:1 +msgid "Force the conversion of the asset file to usd. Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.force_usd_conversion:3 +msgid "" +"If True, then the USD file is always generated. It will overwrite the " +"existing USD file if it exists." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.make_instanceable:1 +msgid "Make the generated USD file instanceable. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.make_instanceable:5 +msgid "" +"Instancing helps reduce the memory footprint of the asset when multiple " +"copies of the asset are used in the scene. For more information, please " +"check the USD documentation on `scene-graph instancing " +"`_." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.import_inertia_tensor:1 +msgid "Import the inertia tensor from urdf. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.import_inertia_tensor:3 +msgid "" +"If the ``\"inertial\"`` tag is missing, then it is imported as an " +"identity." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fix_base:1 +msgid "Create a fix joint to the root/base link. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.merge_fixed_joints:1 +msgid "Consolidate links that are connected by fixed joints. Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.self_collision:1 +msgid "" +"Activate self-collisions between links of the articulation. Defaults to " +"False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type:1 +msgid "The drive type used for joints. Defaults to ``\"none\"``." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type:3 +msgid "" +"The drive type dictates the loaded joint PD gains and USD attributes for " +"joint control:" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type:5 +msgid "``\"none\"``: The joint stiffness and damping are set to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type:6 +msgid "" +"``\"position\"``: The joint stiff and damping are set based on the URDF " +"file or provided configuration." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_type:7 +msgid "" +"``\"velocity\"``: The joint stiff is set to zero and damping is based on " +"the URDF file or provided configuration." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.override_joint_dynamics:1 +msgid "Override the joint dynamics parsed from the URDF file. Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_stiffness:1 +msgid "The default stiffness of the joint drive. Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_damping:1 +msgid "The default damping of the joint drive. Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.default_drive_damping:5 +msgid "" +"If ``override_joint_dynamics`` is True, the values parsed from the URDF " +"joint tag ``\"\"`` are used. Otherwise, it is " +"overridden by the configured value." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.link_density:1 +msgid "Default density used for links. Defaults to 0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.link_density:3 +msgid "" +"This setting is only effective if ``\"inertial\"`` properties are missing" +" in the URDF." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.convex_decompose_mesh:1 +msgid "" +"Decompose a convex mesh into smaller pieces for a closer fit. Defaults to" +" False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.scale:1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.scale:1 +msgid "" +"Scale of the asset. Defaults to None, in which case the scale is not " +"modified." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.articulation_props:1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.articulation_props:1 +msgid "Properties to apply to the articulation root." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.fixed_tendons_props:1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.fixed_tendons_props:1 +msgid "Properties to apply to the fixed tendons (if any)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.joint_drive_props:1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.joint_drive_props:1 +msgid "Properties to apply to a joint." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg.visual_material:1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.visual_material:1 +msgid "" +"Visual material properties to override the visual material properties in " +"the URDF file." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:1 +msgid "" +"Spawn an asset from a USD file and override the settings with the given " +"config." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:3 +msgid "" +"In the case of a USD file, the asset is spawned at the default prim " +"specified in the USD file. If a default prim is not specified, then the " +"asset is spawned at the root prim." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:18 +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:14 +msgid "" +"The translation to apply to the prim w.r.t. its parent prim. Defaults to " +"None, in which case the translation specified in the USD file is used." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:20 +#: omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:16 +msgid "" +"The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent " +"prim. Defaults to None, in which case the orientation specified in the " +"USD file is used." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_from_usd:25 +msgid "If the USD file does not exist at the given path." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.UsdFileCfg:3 +msgid "See :meth:`spawn_from_usd` for more information." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path:1::1 +msgid "" +":py:obj:`usd_path " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path:1 +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path:1::1 +msgid "Path to the USD file to spawn asset from." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path:1::1 +msgid "" +":py:obj:`variants " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.usd_path:1::1 +msgid "Variants to select from in the input USD file." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.variants:1 +msgid "" +"Variants to select from in the input USD file. Defaults to None, in which" +" case no variants are applied." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.UsdFileCfg.variants:3 +msgid "" +"This can either be a configclass object, in which case each attribute is " +"used as a variant set name and its specified value, or a dictionary " +"mapping between the two. Please check the " +":meth:`~omni.isaac.lab.sim.utils.select_usd_variants` function for more " +"information." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:1 +msgid "Spawns a ground plane into the scene." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:3 +msgid "" +"This function loads the USD file containing the grid plane asset from " +"Isaac Sim. It may not work with other assets for ground planes. In those " +"cases, please use the `spawn_from_usd` function." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:9 +msgid "" +"This function takes keyword arguments to be compatible with other " +"spawners. However, it does not use any of the kwargs." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:12 +msgid "The path to spawn the asset at." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files.spawn_ground_plane:21 +msgid "If the prim path already exists." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.from_files.from_files_cfg.GroundPlaneCfg:3 +msgid "" +"This uses the USD for the standard grid-world ground plane from Isaac Sim" +" by default." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +msgid "" +":py:obj:`usd_path " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +msgid "" +":py:obj:`color " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +msgid "The color of the ground plane." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +msgid "" +":py:obj:`size " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +msgid "The size of the ground plane." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.visible:1::1 +msgid "" +":py:obj:`physics_material " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.usd_path:1 +msgid "" +"Path to the USD file to spawn asset from. Defaults to the grid-world " +"ground plane." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.color:1 +msgid "The color of the ground plane. Defaults to (0.0, 0.0, 0.0)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.color:3 +msgid "If None, then the color remains unchanged." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.size:1 +msgid "The size of the ground plane. Defaults to 100 m x 100 m." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg.physics_material:1 +msgid "Physics material properties. Defaults to the default rigid body material." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:187 +msgid "Materials" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.materials:3 +msgid "" +"`Materials`_ are used to define the appearance and physical properties of" +" objects in the simulation. In Omniverse, they are defined using NVIDIA's" +" `Material Definition Language (MDL)`_. MDL is based on the physically-" +"based rendering (PBR) model, which is a set of equations that describe " +"how light interacts with a surface. The PBR model is used to create " +"realistic-looking materials." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.materials:8 +msgid "" +"While MDL is primarily used for defining the appearance of objects, it " +"can be extended to define the physical properties of objects. For " +"example, the friction and restitution coefficients of a rubber material. " +"A `physics material`_ can be assigned to a physics object to define its " +"physical properties. There are different kinds of physics materials, " +"such as rigid body material, deformable material, and fluid material." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.materials:14 +msgid "" +"In order to apply a material to an object, we \"bind\" the geometry of " +"the object to the material. For this, we use the `USD Material Binding " +"API`_. The material binding API takes in the path to the geometry and the" +" path to the material, and binds them together." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.materials:18 +msgid "" +"For physics material, the material is bound to the physics object with " +"the 'physics' purpose. When parsing physics material properties on an " +"object, the following priority is used:" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.materials:21 +msgid "Material binding with a 'physics' purpose (physics material)" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.materials:22 +msgid "Material binding with no purpose (visual material)" +msgstr "" + +#: of omni.isaac.lab.sim.spawners.materials:23 +msgid "Material binding with a 'physics' purpose on the `Physics Scene`_ prim." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.materials:24 +msgid "Default values of material properties inside PhysX." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.materials:43 +msgid "Usage:" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +msgid "" +":py:obj:`VisualMaterialCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 of +#: omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.VisualMaterialCfg:1 +msgid "Configuration parameters for creating a visual material." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +msgid "" +":py:obj:`PreviewSurfaceCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 of +#: omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.PreviewSurfaceCfg:1 +msgid "Configuration parameters for creating a preview surface." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +msgid ":py:obj:`MdlFileCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 of +#: omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.MdlFileCfg:1 +msgid "Configuration parameters for loading an MDL material from a file." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +msgid "" +":py:obj:`GlassMdlCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 of +#: omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.GlassMdlCfg:1 +msgid "Configuration parameters for loading a glass MDL material." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +msgid "" +":py:obj:`PhysicsMaterialCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 of +#: omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.PhysicsMaterialCfg:1 +msgid "Configuration parameters for creating a physics material." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 +msgid "" +":py:obj:`RigidBodyMaterialCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:200::1 of +#: omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.RigidBodyMaterialCfg:1 +msgid "Physics material parameters for rigid bodies." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:203 +msgid "Visual Materials" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:1 +msgid "" +"Create a preview surface prim and override the settings with the given " +"config." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:3 +msgid "" +"A preview surface is a physically-based surface that handles simple " +"shaders while supporting both *specular* and *metallic* workflows. All " +"color inputs are in linear color space (RGB). For more information, see " +"the `documentation " +"`__." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_preview_surface:7 +msgid "" +"The function calls the USD command `CreatePreviewSurfaceMaterialPrim`_ to" +" create the prim." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.PreviewSurfaceCfg:3 +msgid "See :meth:`spawn_preview_surface` for more information." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "" +":py:obj:`diffuse_color " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "The RGB diffusion color." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "" +":py:obj:`emissive_color " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "The RGB emission component of the surface." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "" +":py:obj:`roughness " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "The roughness for specular lobe." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "" +":py:obj:`metallic " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "The metallic component." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "" +":py:obj:`opacity " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1::1 +msgid "The opacity of the surface." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.diffuse_color:1 +msgid "" +"The RGB diffusion color. This is the base color of the surface. Defaults " +"to a dark gray." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.emissive_color:1 +msgid "The RGB emission component of the surface. Defaults to black." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.roughness:1 +msgid "" +"The roughness for specular lobe. Ranges from 0 (smooth) to 1 (rough). " +"Defaults to 0.5." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.metallic:1 +msgid "" +"The metallic component. Ranges from 0 (dielectric) to 1 (metal). Defaults" +" to 0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.opacity:1 +msgid "" +"The opacity of the surface. Ranges from 0 (transparent) to 1 (opaque). " +"Defaults to 1." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg.opacity:3 +msgid "" +"Opacity only affects the surface's appearance during interactive " +"rendering." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:1 +msgid "" +"Load a material from its MDL file and override the settings with the " +"given config." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:3 +msgid "" +"NVIDIA's `Material Definition Language (MDL) `__ is" +" a language for defining physically-based materials. The MDL file format " +"is a binary format that can be loaded by Omniverse and other applications" +" such as Adobe Substance Designer. To learn more about MDL, see the " +"`documentation `_." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.visual_materials.spawn_from_mdl_file:8 +msgid "" +"The function calls the USD command `CreateMdlMaterialPrim`_ to create the" +" prim." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.MdlFileCfg:3 +msgid "See :meth:`spawn_from_mdl_file` for more information." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid "" +":py:obj:`mdl_path " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1 +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid "The path to the MDL material." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid "" +":py:obj:`project_uvw " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid "Whether to project the UVW coordinates of the material." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid "" +":py:obj:`albedo_brightness " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid "Multiplier for the diffuse color of the material." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid "" +":py:obj:`texture_scale " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:1::1 +msgid "The scale of the texture." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:3 +msgid "" +"NVIDIA Omniverse provides various MDL materials in the NVIDIA Nucleus. To" +" use these materials, you can set the path of the material in the nucleus" +" directory using the ``{NVIDIA_NUCLEUS_DIR}`` variable. This is " +"internally resolved to the path of the NVIDIA Nucleus directory on the " +"host machine through the attribute " +":attr:`omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR`." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.mdl_path:9 +msgid "" +"For example, to use the \"Aluminum_Anodized\" material, you can set the " +"path to: " +"``{NVIDIA_NUCLEUS_DIR}/Materials/Base/Metals/Aluminum_Anodized.mdl``." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.project_uvw:1 +msgid "Whether to project the UVW coordinates of the material. Defaults to None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.albedo_brightness:3 +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.project_uvw:3 +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.texture_scale:3 +msgid "If None, then the default setting in the MDL material will be used." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.albedo_brightness:1 +msgid "Multiplier for the diffuse color of the material. Defaults to None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.MdlFileCfg.texture_scale:1 +msgid "The scale of the texture. Defaults to None." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.GlassMdlCfg:3 +msgid "" +"This is a convenience class for loading a glass MDL material. For more " +"information on glass materials, see the `documentation " +"`__." +msgstr "" + +#: of omni.isaac.lab.sim.spawners.materials.visual_materials_cfg.GlassMdlCfg:7 +msgid "" +"The default values are taken from the glass material in the NVIDIA " +"Nucleus." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid "" +":py:obj:`mdl_path " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid "" +":py:obj:`glass_color " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid "The RGB color or tint of the glass." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid "" +":py:obj:`frosting_roughness " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid "The amount of reflectivity of the surface." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid "" +":py:obj:`thin_walled " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid "Whether to perform thin-walled refraction." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid "" +":py:obj:`glass_ior " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1::1 +msgid "" +"The incidence of refraction to control how much light is bent when " +"passing through the glass." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.mdl_path:1 +msgid "" +"The path to the MDL material. Defaults to the glass material in the " +"NVIDIA Nucleus." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_color:1 +msgid "The RGB color or tint of the glass. Defaults to white." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.frosting_roughness:1 +msgid "" +"The amount of reflectivity of the surface. Ranges from 0 (perfectly " +"clear) to 1 (frosted). Defaults to 0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.thin_walled:1 +msgid "Whether to perform thin-walled refraction. Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.GlassMdlCfg.glass_ior:1 +msgid "" +"The incidence of refraction to control how much light is bent when " +"passing through the glass. Defaults to 1.491, which is the IOR of glass." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.sim.spawners.rst:226 +msgid "Physical Materials" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.PhysicsMaterialCfg:3 +msgid "" +"Physics material are PhysX schemas that can be applied to a USD material " +"prim to define the physical properties related to the material. For " +"example, the friction coefficient, restitution coefficient, etc. For more" +" information on physics material, please refer to the `PhysX " +"documentation `_." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:1 +msgid "Create material with rigid-body physics properties." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:3 +msgid "" +"Rigid body materials are used to define the physical properties to meshes" +" of a rigid body. These include the friction, restitution, and their " +"respective combination modes. For more information on rigid body " +"material, please refer to the `documentation on PxMaterial `_." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:14 +msgid "The configuration for the physics material." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:16 +msgid "The spawned rigid body material prim." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.physics_materials.spawn_rigid_body_material:18 +msgid "" +"When a prim already exists at the specified prim path and is not a " +"material." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.RigidBodyMaterialCfg:3 +msgid "See :meth:`spawn_rigid_body_material` for more information." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.physics_materials_cfg.RigidBodyMaterialCfg:7 +msgid "" +"The default values are the `default values used by PhysX 5 " +"`_." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "" +":py:obj:`static_friction " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "The static friction coefficient." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "" +":py:obj:`dynamic_friction " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "The dynamic friction coefficient." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "" +":py:obj:`restitution " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "The restitution coefficient." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "" +":py:obj:`improve_patch_friction " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "Whether to enable patch friction." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "" +":py:obj:`friction_combine_mode " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "Determines the way friction will be combined during collisions." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "" +":py:obj:`restitution_combine_mode " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "" +"Determines the way restitution coefficient will be combined during " +"collisions." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "" +":py:obj:`compliant_contact_stiffness " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "Spring stiffness for a compliant contact model using implicit springs." +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "" +":py:obj:`compliant_contact_damping " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1::1 +msgid "Damping coefficient for a compliant contact model using implicit springs." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.static_friction:1 +msgid "The static friction coefficient. Defaults to 0.5." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.dynamic_friction:1 +msgid "The dynamic friction coefficient. Defaults to 0.5." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution:1 +msgid "The restitution coefficient. Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.improve_patch_friction:1 +msgid "Whether to enable patch friction. Defaults to True." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.friction_combine_mode:1 +msgid "" +"Determines the way friction will be combined during collisions. Defaults " +"to `\"average\"`." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.friction_combine_mode:5 +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution_combine_mode:5 +msgid "" +"When two physics materials with different combine modes collide, the " +"combine mode with the higher priority will be used. The priority order is" +" provided `here `_." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.restitution_combine_mode:1 +msgid "" +"Determines the way restitution coefficient will be combined during " +"collisions. Defaults to `\"average\"`." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_stiffness:1 +msgid "" +"Spring stiffness for a compliant contact model using implicit springs. " +"Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_stiffness:3 +msgid "" +"A higher stiffness results in behavior closer to a rigid contact. The " +"compliant contact model is only enabled if the stiffness is larger than " +"0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_damping:1 +msgid "" +"Damping coefficient for a compliant contact model using implicit springs." +" Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg.compliant_contact_damping:3 +msgid "" +"Irrelevant if compliant contacts are disabled when " +":obj:`compliant_contact_stiffness` is set to zero and rigid contacts are " +"active." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.terrains.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.terrains.po new file mode 100644 index 0000000000..96ab891a29 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.terrains.po @@ -0,0 +1,3449 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:2 +msgid "omni.isaac.lab.terrains" +msgstr "" + +#: of omni.isaac.lab.terrains:1 +msgid "Sub-package with utilities for creating terrains procedurally." +msgstr "" + +#: of omni.isaac.lab.terrains:3 +msgid "There are two main components in this package:" +msgstr "" + +#: of omni.isaac.lab.terrains:5 +msgid "" +":class:`TerrainGenerator`: This class procedurally generates terrains " +"based on the passed sub-terrain configuration. It creates a ``trimesh`` " +"mesh object and contains the origins of each generated sub-terrain." +msgstr "" + +#: of omni.isaac.lab.terrains:8 +msgid "" +":class:`TerrainImporter`: This class mainly deals with importing terrains" +" from different possible sources and adding them to the simulator as a " +"prim object. It also stores the terrain mesh into a dictionary called " +":obj:`TerrainImporter.warp_meshes` that later can be used for ray-" +"casting. The following functions are available for importing terrains:" +msgstr "" + +#: of omni.isaac.lab.terrains:13 +msgid "" +":meth:`TerrainImporter.import_ground_plane`: spawn a grid plane which is " +"default in isaacsim/isaaclab." +msgstr "" + +#: of omni.isaac.lab.terrains:14 +msgid "" +":meth:`TerrainImporter.import_mesh`: spawn a prim from a ``trimesh`` " +"object." +msgstr "" + +#: of omni.isaac.lab.terrains:15 +msgid "" +":meth:`TerrainImporter.import_usd`: spawn a prim as reference to input " +"USD file." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +msgid ":py:obj:`TerrainImporter `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1 +msgid "A class to handle terrain meshes and import them into the simulator." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +msgid "" +":py:obj:`TerrainImporterCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 of +#: omni.isaac.lab.terrains.terrain_importer_cfg.TerrainImporterCfg:1 +msgid "Configuration for the terrain manager." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +msgid ":py:obj:`TerrainGenerator `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 of +#: omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:1 +msgid "Terrain generator to handle different terrain generation functions." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +msgid "" +":py:obj:`TerrainGeneratorCfg " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 of +#: omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:3 +#: omni.isaac.lab.terrains.terrain_generator_cfg.TerrainGeneratorCfg:1 +msgid "Configuration for the terrain generator." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 +msgid ":py:obj:`SubTerrainBaseCfg `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:14::1 of +#: omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg:1 +msgid "Base class for terrain configurations." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:18 +msgid "Terrain importer" +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:3 +msgid "" +"We assume that a terrain mesh comprises of sub-terrains that are arranged" +" in a grid with rows ``num_rows`` and columns ``num_cols``. The terrain " +"origins are the positions of the sub-terrains where the robot should be " +"spawned." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:7 +msgid "" +"Based on the configuration, the terrain importer handles computing the " +"environment origins from the sub-terrain origins. In a typical setup, the" +" number of sub-terrains (:math:`num\\_rows \\times num\\_cols`) is " +"smaller than the number of environments (:math:`num\\_envs`). In this " +"case, the environment origins are computed by sampling the sub-terrain " +"origins." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter:12 +msgid "" +"If a curriculum is used, it is possible to update the environment origins" +" to terrain origins that correspond to a harder difficulty. This is done " +"by calling :func:`update_terrain_levels`. The idea comes from game-based " +"curriculum. For example, in a game, the player starts with easy levels " +"and progresses to harder levels." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:1 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1 +msgid "**Methods:**" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "Initialize the terrain importer." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "" +":py:obj:`set_debug_vis " +"`\\ " +"\\(debug\\_vis\\)" +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.set_debug_vis:1 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "Set the debug visualization of the terrain importer." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "" +":py:obj:`import_ground_plane " +"`\\ " +"\\(key\\[\\, size\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_ground_plane:1 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "Add a plane to the terrain importer." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "" +":py:obj:`import_mesh " +"`\\ \\(key\\, " +"mesh\\)" +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_mesh:1 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "Import a mesh into the simulator." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "" +":py:obj:`import_usd " +"`\\ \\(key\\, " +"usd\\_path\\)" +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd:1 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "Import a mesh from a USD file." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "" +":py:obj:`configure_env_origins " +"`\\ " +"\\(\\[origins\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.configure_env_origins:1 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "Configure the origins of the environments based on the added terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "" +":py:obj:`update_env_origins " +"`\\ " +"\\(env\\_ids\\, move\\_up\\, move\\_down\\)" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.update_env_origins:1 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1::1 +msgid "Update the environment origins based on the terrain levels." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg:1 +#: omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:1 +#: omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg:1 +#: omni.isaac.lab.terrains.terrain_generator_cfg.TerrainGeneratorCfg:1 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter:1 +#: omni.isaac.lab.terrains.terrain_importer_cfg.TerrainImporterCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg:1 +msgid "**Attributes:**" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid ":py:obj:`meshes `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporter.meshes:1 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "A dictionary containing the names of the meshes and their keys." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "" +":py:obj:`warp_meshes " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporter.warp_meshes:1 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "A dictionary containing the names of the warp meshes and their keys." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "" +":py:obj:`env_origins " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "The origins of the environments." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "" +":py:obj:`terrain_origins " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "The origins of the sub-terrains in the added terrain mesh." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "" +":py:obj:`has_debug_vis_implementation " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainImporter.has_debug_vis_implementation:1 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "Whether the terrain importer has a debug visualization implemented." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "" +":py:obj:`flat_patches " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainImporter.flat_patches:1 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:1::1 +msgid "A dictionary containing the sampled valid (flat) patches for the terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain +#: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain +#: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain +#: omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain +#: omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain +#: omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain +#: omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__ +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__ +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.configure_env_origins +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_ground_plane +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_mesh +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.set_debug_vis +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain +#: omni.isaac.lab.terrains.utils.color_meshes_by_height +#: omni.isaac.lab.terrains.utils.create_prim_from_mesh +#: omni.isaac.lab.terrains.utils.find_flat_patches +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:3 +msgid "The configuration for the terrain importer." +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain +#: omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__ +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_ground_plane +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_mesh +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.set_debug_vis +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain +#: omni.isaac.lab.terrains.utils.find_flat_patches +msgid "Raises" +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:5 +msgid "If input terrain type is not supported." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:6 +msgid "" +"If terrain type is 'generator' and no configuration provided for " +"``terrain_generator``." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:7 +msgid "If terrain type is 'usd' and no configuration provided for ``usd_path``." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.__init__:8 +msgid "" +"If terrain type is 'usd' or 'plane' and no configuration provided for " +"``env_spacing``." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporter.env_origins:1 +msgid "The origins of the environments. Shape is (num_envs, 3)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporter.terrain_origins:1 +msgid "" +"The origins of the sub-terrains in the added terrain mesh. Shape is " +"(num_rows, num_cols, 3)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporter.terrain_origins:3 +msgid "" +"If None, then it is assumed no sub-terrains exist. The environment " +"origins are computed in a grid." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainImporter.has_debug_vis_implementation:3 +msgid "This always returns True." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainImporter.flat_patches:3 +msgid "" +"This is only available if the terrain type is 'generator'. For other " +"terrain types, this feature is not available and the function returns an " +"empty dictionary." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainImporter.flat_patches:6 +msgid "" +"Please refer to the :attr:`TerrainGenerator.flat_patches` for more " +"information." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.set_debug_vis:3 +msgid "Whether to visualize the terrain origins." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain +#: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain +#: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain +#: omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain +#: omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain +#: omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.set_debug_vis +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain +#: omni.isaac.lab.terrains.utils.color_meshes_by_height +#: omni.isaac.lab.terrains.utils.find_flat_patches +msgid "Returns" +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.set_debug_vis:5 +msgid "" +"Whether the debug visualization was successfully set. False if the " +"terrain importer does not support debug visualization." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.set_debug_vis:8 +msgid "If terrain origins are not configured." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_ground_plane:3 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_mesh:6 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd:12 +msgid "The key to store the mesh." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_ground_plane:4 +msgid "The size of the plane. Defaults to (2.0e6, 2.0e6)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_ground_plane:6 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_mesh:9 +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd:15 +msgid "If a terrain with the same key already exists." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_mesh:3 +msgid "" +"The mesh is imported into the simulator under the prim path " +"``cfg.prim_path/{key}``. The created path contains the mesh as a " +":class:`pxr.UsdGeom` instance along with visual or physics material " +"prims." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_mesh:7 +msgid "The mesh to import." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd:3 +msgid "" +"We assume that the USD file contains a single mesh. If the USD file " +"contains multiple meshes, then the first mesh is used. The function " +"mainly helps in registering the mesh into the warp meshes and the meshes " +"dictionary." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd:9 +msgid "" +"We do not apply any material properties to the mesh. The material " +"properties should be defined in the USD file." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_importer.TerrainImporter.import_usd:13 +msgid "The path to the USD file." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_importer.TerrainImporter.configure_env_origins:3 +msgid "The origins of the sub-terrains. Shape is (num_rows, num_cols, 3)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "" +":py:obj:`collision_group " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "The collision group of the terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "" +":py:obj:`prim_path " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +#: omni.isaac.lab.terrains.TerrainImporterCfg.prim_path:1 +msgid "The absolute path of the USD terrain prim." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid ":py:obj:`num_envs `\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +#: omni.isaac.lab.terrains.TerrainImporterCfg.num_envs:1 +msgid "The number of environment origins to consider." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "" +":py:obj:`terrain_type " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "The type of terrain to generate." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "" +":py:obj:`terrain_generator " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +#: omni.isaac.lab.terrains.TerrainImporterCfg.terrain_generator:1 +msgid "The terrain generator configuration." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid ":py:obj:`usd_path `\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +#: omni.isaac.lab.terrains.TerrainImporterCfg.usd_path:1 +msgid "The path to the USD file containing the terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "" +":py:obj:`env_spacing " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "The spacing between environment origins when defined in a grid." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "" +":py:obj:`visual_material " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "The visual material of the terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "" +":py:obj:`physics_material " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "The physics material of the terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "" +":py:obj:`max_init_terrain_level " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "The maximum initial terrain level for defining environment origins." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "" +":py:obj:`debug_vis " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1::1 +msgid "Whether to enable visualization of terrain origins for the terrain." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.collision_group:1 +msgid "The collision group of the terrain. Defaults to -1." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.prim_path:3 +msgid "All sub-terrains are imported relative to this prim path." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.terrain_type:1 +msgid "The type of terrain to generate. Defaults to \"generator\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.terrain_type:3 +msgid "Available options are \"plane\", \"usd\", and \"generator\"." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.terrain_generator:3 +msgid "Only used if ``terrain_type`` is set to \"generator\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.usd_path:3 +msgid "Only used if ``terrain_type`` is set to \"usd\"." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.env_spacing:1 +msgid "" +"The spacing between environment origins when defined in a grid. Defaults " +"to None." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.env_spacing:3 +msgid "" +"This parameter is used only when the ``terrain_type`` is ``\"plane\"`` or" +" ``\"usd\"``." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.visual_material:1 +msgid "" +"The visual material of the terrain. Defaults to a dark gray color " +"material." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.visual_material:3 +msgid "" +"The material is created at the path: ``{prim_path}/visualMaterial``. If " +"`None`, then no material is created." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.visual_material:6 +msgid "" +"This parameter is used only when the ``terrain_type`` is " +"``\"generator\"``." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.physics_material:1 +msgid "" +"The physics material of the terrain. Defaults to a default physics " +"material." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.physics_material:3 +msgid "The material is created at the path: ``{prim_path}/physicsMaterial``." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.physics_material:6 +msgid "" +"This parameter is used only when the ``terrain_type`` is " +"``\"generator\"`` or ``\"plane\"``." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.max_init_terrain_level:1 +msgid "" +"The maximum initial terrain level for defining environment origins. " +"Defaults to None." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.max_init_terrain_level:3 +msgid "" +"The terrain levels are specified by the number of rows in the grid " +"arrangement of sub-terrains. If None, then the initial terrain level is " +"set to the maximum terrain level available (``num_rows - 1``)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainImporterCfg.max_init_terrain_level:7 +msgid "This parameter is used only when sub-terrain origins are defined." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainImporterCfg.debug_vis:1 +msgid "" +"Whether to enable visualization of terrain origins for the terrain. " +"Defaults to False." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:29 +msgid "Terrain generator" +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:3 +msgid "" +"The terrains are represented as meshes. These are obtained either from " +"height fields or by using the `trimesh " +"`__ library. The height field " +"representation is more flexible, but it is less computationally and " +"memory efficient than the trimesh representation." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:7 +msgid "" +"All terrain generation functions take in the argument :obj:`difficulty` " +"which determines the complexity of the terrain. The difficulty is a " +"number between 0 and 1, where 0 is the easiest and 1 is the hardest. In " +"most cases, the difficulty is used for linear interpolation between " +"different terrain parameters. For example, in a pyramid stairs terrain " +"the step height is interpolated between the specified minimum and maximum" +" step height." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:13 +msgid "" +"Each sub-terrain has a corresponding configuration class that can be used" +" to specify the parameters of the terrain. The configuration classes are " +"inherited from the :class:`SubTerrainBaseCfg` class which contains the " +"common parameters for all terrains." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:17 +msgid "" +"If a curriculum is used, the terrains are generated based on their " +"difficulty parameter. The difficulty is varied linearly over the number " +"of rows (i.e. along x). If a curriculum is not used, the terrains are " +"generated randomly." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:21 +msgid "" +"If the :obj:`cfg.flat_patch_sampling` is specified for a sub-terrain, " +"flat patches are sampled on the terrain. These can be used for spawning " +"robots, targets, etc. The sampled patches are stored in the " +":obj:`flat_patches` dictionary. The key specifies the intention of the " +"flat patches and the value is a tensor containing the flat patches for " +"each sub-terrain." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:26 +msgid "" +"If the flag :obj:`cfg.use_cache` is set to True, the terrains are cached " +"based on their sub-terrain configurations. This means that if the same " +"sub-terrain configuration is used multiple times, the terrain is only " +"generated once and then reused. This is useful when generating complex " +"sub-terrains that take a long time to generate." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(cfg\\[\\, device\\]\\)" +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1 +#: omni.isaac.lab.terrains.terrain_generator.TerrainGenerator:1::1 +msgid "Initialize the terrain generator." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +msgid "" +":py:obj:`flat_patches " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGenerator.flat_patches:1 +#: omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +msgid "A dictionary of sampled valid (flat) patches for each sub-terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +msgid "" +":py:obj:`terrain_meshes " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGenerator.terrain_meshes:1 +#: omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +msgid "List of trimesh.Trimesh objects for all the generated sub-terrains." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +msgid "" +":py:obj:`terrain_origins " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +msgid "The origin of each sub-terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +msgid "" +":py:obj:`terrain_mesh " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGenerator.terrain_mesh:1 +#: omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:1::1 +msgid "A single trimesh.Trimesh object for all the generated sub-terrains." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_generator.TerrainGenerator.__init__:4 +msgid "The device to use for the flat patches tensor." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGenerator.flat_patches:3 +msgid "" +"The dictionary keys are the names of the flat patch sampling " +"configurations. This maps to a tensor containing the flat patches for " +"each sub-terrain. The shape of the tensor is (num_rows, num_cols, " +"num_patches, 3)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGenerator.flat_patches:7 +msgid "" +"For instance, the key \"root_spawn\" maps to a tensor containing the flat" +" patches for spawning an asset. Similarly, the key \"target_spawn\" maps " +"to a tensor containing the flat patches for setting targets." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGenerator.terrain_origins:1 +msgid "The origin of each sub-terrain. Shape is (num_rows, num_cols, 3)." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`seed `\\" +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "The seed for the random number generator." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "" +":py:obj:`curriculum " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "Whether to use the curriculum mode." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid ":py:obj:`size `\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.size:1 +msgid "The width (along x) and length (along y) of each sub-terrain (in m)." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "" +":py:obj:`border_width " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +msgid "The width of the border around the terrain (in m)." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "" +":py:obj:`num_rows " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "Number of rows of sub-terrains to generate." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "" +":py:obj:`num_cols " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "Number of columns of sub-terrains to generate." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "" +":py:obj:`color_scheme " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "Color scheme to use for the terrain." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "" +":py:obj:`horizontal_scale " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +msgid "The discretization of the terrain along the x and y axes (in m)." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "" +":py:obj:`vertical_scale " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +msgid "The discretization of the terrain along the z axis (in m)." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "" +":py:obj:`slope_threshold " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +msgid "The slope threshold above which surfaces are made vertical." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "" +":py:obj:`sub_terrains " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.sub_terrains:1 +msgid "Dictionary of sub-terrain configurations." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "" +":py:obj:`difficulty_range " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "The range of difficulty values for the sub-terrains." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "" +":py:obj:`use_cache " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "Whether to load the terrain from cache if it exists." +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "" +":py:obj:`cache_dir " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1::1 +msgid "The directory where the terrain cache is stored." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.seed:1 +msgid "" +"The seed for the random number generator. Defaults to None, in which case" +" the seed is not set." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.curriculum:1 +msgid "Whether to use the curriculum mode. Defaults to False." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.curriculum:3 +msgid "" +"If True, the terrains are generated based on their difficulty parameter. " +"Otherwise, they are randomly generated." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.size:3 +msgid "This value is passed on to all the sub-terrain configurations." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.border_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.border_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1 +msgid "The width of the border around the terrain (in m). Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.num_rows:1 +msgid "Number of rows of sub-terrains to generate. Defaults to 1." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.num_cols:1 +msgid "Number of columns of sub-terrains to generate. Defaults to 1." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme:1 +msgid "Color scheme to use for the terrain. Defaults to \"none\"." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme:3 +msgid "The available color schemes are:" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme:5 +msgid "\"height\": Color based on the height of the terrain." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme:6 +msgid "\"random\": Random color scheme." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.color_scheme:7 +msgid "\"none\": No color scheme." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.horizontal_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.horizontal_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.horizontal_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.horizontal_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.horizontal_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.horizontal_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.horizontal_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.horizontal_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.horizontal_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.horizontal_scale:1 +msgid "" +"The discretization of the terrain along the x and y axes (in m). Defaults" +" to 0.1." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.horizontal_scale:3 +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.slope_threshold:5 +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.vertical_scale:3 +msgid "" +"This value is passed on to all the height field sub-terrain " +"configurations." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.vertical_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.vertical_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.vertical_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.vertical_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.vertical_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.vertical_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.vertical_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.vertical_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.vertical_scale:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.vertical_scale:1 +msgid "" +"The discretization of the terrain along the z axis (in m). Defaults to " +"0.005." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.slope_threshold:1 +msgid "" +"The slope threshold above which surfaces are made vertical. Defaults to " +"0.75." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.slope_threshold:3 +msgid "If None no correction is applied." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.sub_terrains:3 +msgid "" +"The keys correspond to the name of the sub-terrain configuration and the " +"values are the corresponding configurations." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range:1 +msgid "" +"The range of difficulty values for the sub-terrains. Defaults to (0.0, " +"1.0)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.TerrainGeneratorCfg.difficulty_range:3 +msgid "" +"If curriculum is enabled, the terrains will be generated based on this " +"range in ascending order of difficulty. Otherwise, the terrains will be " +"generated based on this range in a random order." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.use_cache:1 +msgid "Whether to load the terrain from cache if it exists. Defaults to True." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.TerrainGeneratorCfg.cache_dir:1 +msgid "" +"The directory where the terrain cache is stored. Defaults to " +"\"/tmp/isaaclab/terrains\"." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg:3 +msgid "All the sub-terrain configurations must inherit from this class." +msgstr "" + +#: of omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg:5 +msgid "" +"The :attr:`size` attribute is the size of the generated sub-terrain. " +"Based on this, the terrain must extend from :math:`(0, 0)` to " +":math:`(size[0], size[1])`." +msgstr "" + +#: of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +msgid ":py:obj:`function `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1 +#: omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +msgid "Function to generate the terrain." +msgstr "" + +#: of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +msgid "" +":py:obj:`proportion " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +msgid "Proportion of the terrain to generate." +msgstr "" + +#: of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +msgid ":py:obj:`size `\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +#: omni.isaac.lab.terrains.SubTerrainBaseCfg.size:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.size:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.size:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.size:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.size:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.size:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.size:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.size:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.size:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.size:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.size:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.size:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.size:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.size:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.size:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.size:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.size:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.size:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.size:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.size:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.size:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.size:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.size:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.size:1 +msgid "The width (along x) and length (along y) of the terrain (in m)." +msgstr "" + +#: of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +msgid "" +":py:obj:`flat_patch_sampling " +"`\\" +msgstr "" + +#: of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:1::1 +msgid "Dictionary of configurations for sampling flat patches on the sub-terrain." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.function:3 +msgid "" +"This function must take as input the terrain difficulty and the " +"configuration parameters and return a tuple with a list of ``trimesh`` " +"mesh objects and the terrain origin." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.proportion:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.proportion:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.proportion:1 +msgid "Proportion of the terrain to generate. Defaults to 1.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.terrains.SubTerrainBaseCfg.proportion:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.proportion:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.proportion:3 +msgid "" +"This is used to generate a mix of terrains. The proportion corresponds to" +" the probability of sampling the particular terrain. For example, if " +"there are two terrains, A and B, with proportions 0.3 and 0.7, " +"respectively, then the probability of sampling terrain A is 0.3 and the " +"probability of sampling terrain B is 0.7." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.flat_patch_sampling:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.flat_patch_sampling:1 +msgid "" +"Dictionary of configurations for sampling flat patches on the sub-" +"terrain. Defaults to None, in which case no flat patch sampling is " +"performed." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.flat_patch_sampling:4 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.flat_patch_sampling:4 +msgid "" +"The keys correspond to the name of the flat patch sampling configuration " +"and the values are the corresponding configurations." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:43 +msgid "Height fields" +msgstr "" + +#: of omni.isaac.lab.terrains.height_field:1 +msgid "" +"This sub-module provides utilities to create different terrains as height" +" fields (HF)." +msgstr "" + +#: of omni.isaac.lab.terrains.height_field:3 +msgid "" +"Height fields are a 2.5D terrain representation that is used in robotics " +"to obtain the height of the terrain at a given point. This is useful for " +"controls and planning algorithms." +msgstr "" + +#: of omni.isaac.lab.terrains.height_field:6 +msgid "" +"Each terrain is represented as a 2D numpy array with discretized heights." +" The shape of the array is (width, length), where width and length are " +"the number of points along the x and y axis, respectively. The height of " +"the terrain at a given point is obtained by indexing the array with the " +"corresponding x and y coordinates." +msgstr "" + +#: of omni.isaac.lab.terrains.height_field:13 +msgid "" +"When working with height field terrains, it is important to remember that" +" the terrain is generated from a discretized 3D representation. This " +"means that the height of the terrain at a given point is only an " +"approximation of the real height of the terrain at that point. The " +"discretization error is proportional to the size of the discretization " +"cells. Therefore, it is important to choose a discretization size that is" +" small enough for the application. A larger discretization size will " +"result in a faster simulation, but the terrain will be less accurate." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:47 +msgid "" +"All sub-terrains must inherit from the :class:`HfTerrainBaseCfg` class " +"which contains the common parameters for all terrains generated from " +"height fields." +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.terrains.terrain_generator_cfg.SubTerrainBaseCfg`" +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg:1 +msgid "The base configuration for height field terrains." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +msgid "" +":py:obj:`border_width " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +msgid "The width of the border/padding around the terrain (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +msgid "" +":py:obj:`horizontal_scale " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +msgid "" +":py:obj:`vertical_scale " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1::1 +msgid "" +":py:obj:`slope_threshold " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.border_width:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.border_width:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.border_width:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.border_width:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.border_width:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.border_width:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.border_width:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.border_width:1 +msgid "" +"The width of the border/padding around the terrain (in m). Defaults to " +"0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.border_width:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.border_width:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.border_width:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.border_width:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.border_width:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.border_width:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.border_width:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.border_width:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.border_width:3 +msgid "" +"The border width is subtracted from the :obj:`size` of the terrain. If " +"non-zero, it must be greater than or equal to the :obj:`horizontal " +"scale`." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.slope_threshold:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_threshold:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.slope_threshold:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_threshold:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.slope_threshold:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.slope_threshold:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.slope_threshold:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg.slope_threshold:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.slope_threshold:1 +msgid "" +"The slope threshold above which surfaces are made vertical. Defaults to " +"None, in which case no correction is applied." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:56 +msgid "Random Uniform Terrain" +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:1 +msgid "Generate a terrain with height sampled uniformly from a specified range." +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:7 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain:7 +msgid "The :obj:`difficulty` parameter is ignored for this terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain:12 +#: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain:16 +#: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain:14 +#: omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:9 +#: omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain:9 +#: omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:18 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain:13 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain:9 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain:12 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain:10 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain:15 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain:14 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain:15 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:17 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:21 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:11 +msgid "The difficulty of the terrain. This is a value between 0 and 1." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain:13 +#: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain:17 +#: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain:15 +#: omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:10 +#: omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain:10 +#: omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:19 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain:14 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain:10 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain:13 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain:11 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain:16 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain:15 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain:16 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain:12 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:18 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:22 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:12 +msgid "The configuration for the terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain:15 +#: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain:19 +#: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain:17 +#: omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:12 +#: omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain:12 +#: omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:21 +msgid "" +"The height field of the terrain as a 2D numpy array with discretized " +"heights. The shape of the array is (width, length), where width and " +"length are the number of points along the x and y axis, respectively." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains.random_uniform_terrain:16 +msgid "When the downsampled scale is smaller than the horizontal scale." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfTerrainBaseCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg:1 +msgid "Configuration for a random uniform height field terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range:1::1 +msgid "" +":py:obj:`noise_range " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range:1::1 +msgid "The minimum and maximum height noise (i.e." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range:1::1 +msgid "" +":py:obj:`noise_step " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range:1::1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_step:1 +msgid "The minimum height (in m) change between two points." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range:1::1 +msgid "" +":py:obj:`downsampled_scale " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range:1::1 +msgid "The distance between two randomly sampled points on the terrain." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.noise_range:1 +msgid "The minimum and maximum height noise (i.e. along z) of the terrain (in m)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.downsampled_scale:1 +msgid "" +"The distance between two randomly sampled points on the terrain. Defaults" +" to None, in which case the :obj:`horizontal scale` is used." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfRandomUniformTerrainCfg.downsampled_scale:4 +msgid "" +"The heights are sampled at this resolution and interpolation is performed" +" for intermediate points. This must be larger than or equal to the " +":obj:`horizontal scale`." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:66 +msgid "Pyramid Sloped Terrain" +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain:1 +msgid "Generate a terrain with a truncated pyramid structure." +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain:3 +msgid "" +"The terrain is a pyramid-shaped sloped surface with a slope of " +":obj:`slope` that trims into a flat platform at the center. The slope is " +"defined as the ratio of the height change along the x axis to the width " +"along the x axis. For example, a slope of 1.0 means that the height " +"changes by 1 unit for every 1 unit of width." +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_sloped_terrain:7 +#: omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain:5 +msgid "" +"If the :obj:`cfg.inverted` flag is set to :obj:`True`, the terrain is " +"inverted such that the platform is at the bottom." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg:1 +msgid "Configuration for a pyramid sloped height field terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range:1::1 +msgid "" +":py:obj:`slope_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.slope_range:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range:1::1 +msgid "The slope of the terrain (in radians)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range:1::1 +msgid "" +":py:obj:`platform_width " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range:1::1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +msgid "The width of the square platform at the center of the terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range:1::1 +msgid "" +":py:obj:`inverted " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.slope_range:1::1 +msgid "Whether the pyramid is inverted." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.platform_width:1 +msgid "" +"The width of the square platform at the center of the terrain. Defaults " +"to 1.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.inverted:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.inverted:1 +msgid "Whether the pyramid is inverted. Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg.inverted:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg.inverted:3 +msgid "" +"If True, the terrain is inverted such that the platform is at the bottom " +"and the slopes are upwards." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidSlopedTerrainCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg:1 +msgid "Configuration for an inverted pyramid sloped height field terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidSlopedTerrainCfg:5 +msgid "" +"This is a subclass of :class:`HfPyramidSlopedTerrainCfg` with " +":obj:`inverted` set to True. We make it as a separate class to make it " +"easier to distinguish between the two and match the naming convention of " +"the other terrains." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:81 +msgid "Pyramid Stairs Terrain" +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain:1 +msgid "Generate a terrain with a pyramid stair pattern." +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains.pyramid_stairs_terrain:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain:3 +msgid "" +"The terrain is a pyramid stair pattern which trims to a flat platform at " +"the center of the terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg:1 +msgid "Configuration for a pyramid stairs height field terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +msgid "" +":py:obj:`step_height_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_height_range:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_height_range:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_height_range:1 +msgid "The minimum and maximum height of the steps (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +msgid "" +":py:obj:`step_width " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.step_width:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.step_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.step_width:1 +msgid "The width of the steps (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +msgid "" +":py:obj:`platform_width " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +msgid "" +":py:obj:`inverted " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.step_height_range:1::1 +msgid "Whether the pyramid stairs is inverted." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.inverted:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.inverted:1 +msgid "Whether the pyramid stairs is inverted. Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg.inverted:3 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg.inverted:3 +msgid "" +"If True, the terrain is inverted such that the platform is at the bottom " +"and the stairs are upwards." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfPyramidStairsTerrainCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg:1 +msgid "Configuration for an inverted pyramid stairs height field terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfInvertedPyramidStairsTerrainCfg:5 +msgid "" +"This is a subclass of :class:`HfPyramidStairsTerrainCfg` with " +":obj:`inverted` set to True. We make it as a separate class to make it " +"easier to distinguish between the two and match the naming convention of " +"the other terrains." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:96 +msgid "Discrete Obstacles Terrain" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain:1 +msgid "" +"Generate a terrain with randomly generated obstacles as pillars with " +"positive and negative heights." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains.discrete_obstacles_terrain:3 +msgid "" +"The terrain is a flat platform at the center of the terrain with randomly" +" generated obstacles as pillars with positive and negative height. The " +"obstacles are randomly generated cuboids with a random width and height. " +"They are placed randomly on the terrain with a minimum distance of " +":obj:`cfg.platform_width` from the center of the terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg:1 +msgid "Configuration for a discrete obstacles height field terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +msgid "" +":py:obj:`obstacle_height_mode " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +msgid "The mode to use for the obstacle height." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +msgid "" +":py:obj:`obstacle_width_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_width_range:1 +msgid "The minimum and maximum width of the obstacles (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +msgid "" +":py:obj:`obstacle_height_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_range:1 +msgid "The minimum and maximum height of the obstacles (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +msgid "" +":py:obj:`num_obstacles " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.num_obstacles:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +msgid "The number of obstacles to generate." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1::1 +msgid "" +":py:obj:`platform_width " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:1 +msgid "The mode to use for the obstacle height. Defaults to \"choice\"." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfDiscreteObstaclesTerrainCfg.obstacle_height_mode:3 +msgid "The following modes are supported: \"choice\", \"fixed\"." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:106 +msgid "Wave Terrain" +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:1 +msgid "Generate a terrain with a wave pattern." +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:3 +msgid "" +"The terrain is a flat platform at the center of the terrain with a wave " +"pattern. The wave pattern is generated by adding sinusoidal waves based " +"on the number of waves and the amplitude of the waves." +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:6 +msgid "The height of the terrain at a point :math:`(x, y)` is given by:" +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:8 +msgid "" +"h(x, y) = A \\left(\\sin\\left(\\frac{2 \\pi x}{\\lambda}\\right) + " +"\\cos\\left(\\frac{2 \\pi y}{\\lambda}\\right) \\right)" +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:12 +msgid "" +"where :math:`A` is the amplitude of the waves, :math:`\\lambda` is the " +"wavelength of the waves." +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains.wave_terrain:25 +msgid "When the number of waves is non-positive." +msgstr "" + +#: of omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg:1 +msgid "Configuration for a wave height field terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion:1::1 +msgid "" +":py:obj:`amplitude_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.amplitude_range:1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion:1::1 +msgid "The minimum and maximum amplitude of the wave (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion:1::1 +msgid "" +":py:obj:`num_waves " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.proportion:1::1 +msgid "The number of waves to generate." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfWaveTerrainCfg.num_waves:1 +msgid "The number of waves to generate. Defaults to 1.0." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:116 +msgid "Stepping Stones Terrain" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain:1 +msgid "Generate a terrain with a stepping stones pattern." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains.stepping_stones_terrain:3 +msgid "" +"The terrain is a stepping stones pattern which trims to a flat platform " +"at the center of the terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg:1 +msgid "Configuration for a stepping stones height field terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +msgid "" +":py:obj:`stone_height_max " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_height_max:1 +msgid "The maximum height of the stones (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +msgid "" +":py:obj:`stone_width_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_width_range:1 +msgid "The minimum and maximum width of the stones (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +msgid "" +":py:obj:`stone_distance_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.stone_distance_range:1 +msgid "The minimum and maximum distance between stones (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +msgid "" +":py:obj:`holes_depth " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +msgid "The depth of the holes (negative obstacles)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.proportion:1::1 +msgid "" +":py:obj:`platform_width " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.height_field.hf_terrains_cfg.HfSteppingStonesTerrainCfg.holes_depth:1 +msgid "The depth of the holes (negative obstacles). Defaults to -10.0." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:126 +msgid "Trimesh terrains" +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh:1 +msgid "" +"This sub-module provides methods to create different terrains using the " +"``trimesh`` library." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh:3 +msgid "" +"In contrast to the height-field representation, the trimesh " +"representation does not create arbitrarily small triangles. Instead, the " +"terrain is represented as a single tri-mesh primitive. Thus, this " +"representation is more computationally and memory efficient than the " +"height-field representation, but it is not as flexible." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:132 +msgid "Flat terrain" +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain:1 +msgid "Generate a flat terrain as a plane." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain:16 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.flat_terrain:12 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain:15 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain:13 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain:18 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain:17 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain:18 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain:14 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:20 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:24 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:14 +msgid "" +"A tuple containing the tri-mesh of the terrain and the origin of the " +"terrain (in m)." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPlaneTerrainCfg:1 +msgid "Configuration for a plane mesh terrain." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:142 +msgid "Pyramid terrain" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain:5 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.pyramid_stairs_terrain:5 +msgid "" +"If :obj:`cfg.holes` is True, the terrain will have pyramid stairs of " +"length or width :obj:`cfg.platform_width` (depending on the direction) " +"with no steps in the remaining area. Additionally, no border will be " +"added." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg:1 +msgid "Configuration for a pyramid stair mesh terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +msgid "" +":py:obj:`border_width " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +msgid "" +":py:obj:`step_height_range " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +msgid "" +":py:obj:`step_width " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +msgid "" +":py:obj:`platform_width " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +msgid "" +":py:obj:`holes " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +msgid "If True, the terrain will have holes in the steps." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.border_width:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.border_width:3 +msgid "The border is a flat terrain with the same height as the terrain." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.holes:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.holes:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.holes:1 +msgid "If True, the terrain will have holes in the steps. Defaults to False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg.holes:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg.holes:3 +msgid "" +"If :obj:`holes` is True, the terrain will have pyramid stairs of length " +"or width :obj:`platform_width` (depending on the direction) with no steps" +" in the remaining area. Additionally, no border will be added." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:152 +msgid "Inverted pyramid terrain" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain:1 +msgid "Generate a terrain with a inverted pyramid stair pattern." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains.inverted_pyramid_stairs_terrain:3 +msgid "" +"The terrain is an inverted pyramid stair pattern which trims to a flat " +"platform at the center of the terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPyramidStairsTerrainCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg:1 +msgid "Configuration for an inverted pyramid stair mesh terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshInvertedPyramidStairsTerrainCfg:3 +msgid "" +"This is the same as :class:`MeshPyramidStairsTerrainCfg` except that the " +"steps are inverted." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:162 +msgid "Random grid terrain" +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:1 +msgid "Generate a terrain with cells of random heights and fixed width." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:3 +msgid "" +"The terrain is generated in the x-y plane and has a height of 1.0. It is " +"then divided into a grid of the specified size :obj:`cfg.grid_width`. " +"Each grid cell is then randomly shifted in the z-direction by a value " +"uniformly sampled between :obj:`cfg.grid_height_range`. At the center of " +"the terrain, a platform of the specified width :obj:`cfg.platform_width` " +"is generated." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:8 +msgid "" +"If :obj:`cfg.holes` is True, the terrain will have randomized grid cells " +"only along the plane extending from the platform (like a plus sign). The " +"remaining area remains empty and no border will be added." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:22 +msgid "If the terrain is not square. This method only supports square terrains." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.random_grid_terrain:23 +msgid "If the grid width is large such that the border width is negative." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg:1 +msgid "Configuration for a random grid mesh terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +msgid "" +":py:obj:`grid_width " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +msgid "The width of the grid cells (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +msgid "" +":py:obj:`grid_height_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_height_range:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +msgid "The minimum and maximum height of the grid cells (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +msgid "" +":py:obj:`platform_width " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.grid_width:1::1 +msgid "" +":py:obj:`holes " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRandomGridTerrainCfg.holes:3 +msgid "" +"If :obj:`holes` is True, the terrain will have randomized grid cells only" +" along the plane extending from the platform (like a plus sign). The " +"remaining area remains empty and no border will be added." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:172 +msgid "Rails terrain" +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain:1 +msgid "Generate a terrain with box rails as extrusions." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain:3 +msgid "" +"The terrain contains two sets of box rails created as extrusions. The " +"first set (inner rails) is extruded from the platform at the center of " +"the terrain, and the second set is extruded between the first set of " +"rails and the terrain border. Each set of rails is extruded to the same " +"height." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.rails_terrain:11 +msgid "The difficulty of the terrain. this is a value between 0 and 1." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg:1 +msgid "Configuration for a terrain with box rails as extrusions." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range:1::1 +msgid "" +":py:obj:`rail_thickness_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range:1::1 +msgid "The thickness of the inner and outer rails (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range:1::1 +msgid "" +":py:obj:`rail_height_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_height_range:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range:1::1 +msgid "The minimum and maximum height of the rails (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRailsTerrainCfg.rail_thickness_range:1::1 +msgid "" +":py:obj:`platform_width " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:182 +msgid "Pit terrain" +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain:1 +msgid "Generate a terrain with a pit with levels (stairs) leading out of the pit." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.pit_terrain:3 +msgid "" +"The terrain contains a platform at the center and a staircase leading out" +" of the pit. The staircase is a series of steps that are aligned along " +"the x- and y- axis. The steps are created by extruding a ring along the " +"x- and y- axis. If :obj:`is_double_pit` is True, the pit contains two " +"levels." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg:1 +msgid "Configuration for a terrain with a pit that leads out of the pit." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range:1::1 +msgid "" +":py:obj:`pit_depth_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range:1::1 +msgid "The minimum and maximum height of the pit (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range:1::1 +msgid "" +":py:obj:`platform_width " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range:1::1 +msgid "" +":py:obj:`double_pit " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.pit_depth_range:1::1 +msgid "If True, the pit contains two levels of stairs." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshPitTerrainCfg.double_pit:1 +msgid "If True, the pit contains two levels of stairs. Defaults to False." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:192 +msgid "Box terrain" +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain:1 +msgid "Generate a terrain with boxes (similar to a pyramid)." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.box_terrain:3 +msgid "" +"The terrain has a ground with boxes on top of it that are stacked on top " +"of each other. The boxes are created by extruding a rectangle along the " +"z-axis. If :obj:`double_box` is True, then two boxes of height " +":obj:`box_height` are stacked on top of each other." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg:1 +msgid "Configuration for a terrain with boxes (similar to a pyramid)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range:1::1 +msgid "" +":py:obj:`box_height_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range:1::1 +msgid "The minimum and maximum height of the box (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range:1::1 +msgid "" +":py:obj:`platform_width " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range:1::1 +msgid "" +":py:obj:`double_box " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.box_height_range:1::1 +msgid "If True, the pit contains two levels of stairs/boxes." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshBoxTerrainCfg.double_box:1 +msgid "If True, the pit contains two levels of stairs/boxes. Defaults to False." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:202 +msgid "Gap terrain" +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain:1 +msgid "Generate a terrain with a gap around the platform." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.gap_terrain:3 +msgid "" +"The terrain has a ground with a platform in the middle. The platform is " +"surrounded by a gap of width :obj:`gap_width` on all sides." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg:1 +msgid "Configuration for a terrain with a gap around the platform." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range:1::1 +msgid "" +":py:obj:`gap_width_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range:1::1 +msgid "The minimum and maximum width of the gap (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshGapTerrainCfg.gap_width_range:1::1 +msgid "" +":py:obj:`platform_width " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:212 +msgid "Floating ring terrain" +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain:1 +msgid "Generate a terrain with a floating square ring." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.floating_ring_terrain:3 +msgid "" +"The terrain has a ground with a floating ring in the middle. The ring " +"extends from the center from :obj:`platform_width` to " +":obj:`platform_width` + :obj:`ring_width` in the x and y directions. The " +"thickness of the ring is :obj:`ring_thickness` and the height of the ring" +" from the terrain is :obj:`ring_height`." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg:1 +msgid "Configuration for a terrain with a floating ring around the center." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +msgid "" +":py:obj:`ring_width_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +msgid "The minimum and maximum width of the ring (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +msgid "" +":py:obj:`ring_height_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_height_range:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +msgid "The minimum and maximum height of the ring (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +msgid "" +":py:obj:`ring_thickness " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_thickness:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +msgid "The thickness (along z) of the ring (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshFloatingRingTerrainCfg.ring_width_range:1::1 +msgid "" +":py:obj:`platform_width " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:222 +msgid "Star terrain" +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:1 +msgid "Generate a terrain with a star." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:3 +msgid "" +"The terrain has a ground with a cylinder in the middle. The star is made " +"of :obj:`num_bars` bars with a width of :obj:`bar_width` and a height of " +":obj:`bar_height`. The bars are evenly spaced around the cylinder and " +"connect to the peripheral of the terrain." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.star_terrain:16 +msgid "If :obj:`num_bars` is less than 2." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg:1 +msgid "Configuration for a terrain with a star pattern." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +msgid "" +":py:obj:`num_bars " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +msgid "The number of bars per-side the star." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +msgid "" +":py:obj:`bar_width_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_width_range:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +msgid "The minimum and maximum width of the bars in the star (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +msgid "" +":py:obj:`bar_height_range " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.bar_height_range:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +msgid "The minimum and maximum height of the bars in the star (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +msgid "" +":py:obj:`platform_width " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1::1 +msgid "The width of the cylindrical platform at the center of the terrain." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.num_bars:1 +msgid "The number of bars per-side the star. Must be greater than 2." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.platform_width:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshStarTerrainCfg.platform_width:1 +msgid "" +"The width of the cylindrical platform at the center of the terrain. " +"Defaults to 1.0." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:232 +msgid "Repeated Objects Terrain" +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:1 +msgid "Generate a terrain with a set of repeated objects." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:3 +msgid "" +"The terrain has a ground with a platform in the middle. The objects are " +"randomly placed on the terrain s.t. they do not overlap with the " +"platform." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:6 +msgid "" +"Depending on the object type, the objects are generated with different " +"parameters. The objects The types of objects that can be generated are: " +"``\"cylinder\"``, ``\"box\"``, ``\"cone\"``." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:9 +msgid "" +"The object parameters are specified in the configuration as curriculum " +"parameters. The difficulty is used to linearly interpolate between the " +"minimum and maximum values of the parameters." +msgstr "" + +#: of omni.isaac.lab.terrains.trimesh.mesh_terrains.repeated_objects_terrain:26 +msgid "" +"If the object type is not supported. It must be either a string or a " +"callable." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg:1 +msgid "Base configuration for a terrain with repeated objects." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg:1 +msgid "**Classes:**" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg:1::1 +msgid "" +":py:obj:`ObjectCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg:1::1 +msgid "Configuration of repeated objects." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +msgid "" +":py:obj:`object_type " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_type:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_type:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_type:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_type:1 +msgid "The type of object to generate." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +msgid "" +":py:obj:`object_params_start " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_start:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_start:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion:1::1 +msgid "The object curriculum parameters at the start of the curriculum." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +msgid "" +":py:obj:`object_params_end " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_params_end:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_params_end:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion:1::1 +msgid "The object curriculum parameters at the end of the curriculum." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +msgid "" +":py:obj:`max_height_noise " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +msgid "The maximum amount of noise to add to the height of the objects (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg:1::1 +msgid "" +":py:obj:`platform_width " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "" +":py:obj:`num_objects " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects:1 +msgid "The number of objects to add to the terrain." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "" +":py:obj:`height " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.height:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.height:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.height:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg.num_objects:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.height:1 +msgid "The height (along z) of the object (in m)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_type:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_type:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.object_type:3 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.object_type:3 +msgid "" +"The type can be a string or a callable. If it is a string, the function " +"will look for a function called ``make_{object_type}`` in the current " +"module scope. If it is a callable, the function will use the callable to " +"generate the object." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.max_height_noise:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.max_height_noise:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.max_height_noise:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.max_height_noise:1 +msgid "" +"The maximum amount of noise to add to the height of the objects (in m). " +"Defaults to 0.0." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg:1 +msgid "Configuration for a terrain with repeated pyramids." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg:1::1 +msgid "" +":py:obj:`ObjectCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg:1::1 +msgid "Configuration for a curriculum of repeated pyramids." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion:1::1 +msgid "" +":py:obj:`object_params_start " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.proportion:1::1 +msgid "" +":py:obj:`object_params_end " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg:1 +msgid "" +"Bases: " +":py:class:`~omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedObjectsTerrainCfg.ObjectCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "" +":py:obj:`radius " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.radius:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.radius:1 +msgid "The radius of the pyramids (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "" +":py:obj:`max_yx_angle " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "The maximum angle along the y and x axis." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "" +":py:obj:`degrees " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "Whether the angle is in degrees." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.max_yx_angle:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.max_yx_angle:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.max_yx_angle:1 +msgid "The maximum angle along the y and x axis. Defaults to 0.0." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.degrees:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.degrees:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedPyramidsTerrainCfg.ObjectCfg.degrees:1 +msgid "Whether the angle is in degrees. Defaults to True." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg:1 +msgid "Configuration for a terrain with repeated boxes." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg:1::1 +msgid "" +":py:obj:`ObjectCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg:1::1 +msgid "Configuration for repeated boxes." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion:1::1 +msgid "" +":py:obj:`object_params_start " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_start:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_start:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion:1::1 +msgid "The box curriculum parameters at the start of the curriculum." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion:1::1 +msgid "" +":py:obj:`object_params_end " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.object_params_end:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.proportion:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.object_params_end:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion:1::1 +msgid "The box curriculum parameters at the end of the curriculum." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "" +":py:obj:`size " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects:1::1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.size:1 +msgid "The width (along x) and length (along y) of the box (in m)." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "" +":py:obj:`max_yx_angle " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedBoxesTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "" +":py:obj:`degrees " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg:1 +msgid "Configuration for a terrain with repeated cylinders." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg:1::1 +msgid "" +":py:obj:`ObjectCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg:1 +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg:1::1 +msgid "Configuration for repeated cylinder." +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion:1::1 +msgid "" +":py:obj:`object_params_start " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.proportion:1::1 +msgid "" +":py:obj:`object_params_end " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "" +":py:obj:`radius " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "" +":py:obj:`max_yx_angle " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.terrains.trimesh.mesh_terrains_cfg.MeshRepeatedCylindersTerrainCfg.ObjectCfg.num_objects:1::1 +msgid "" +":py:obj:`degrees " +"`\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.terrains.rst:257 +msgid "Utilities" +msgstr "" + +#: of omni.isaac.lab.terrains.utils:1 +msgid "**Functions:**" +msgstr "" + +#: of omni.isaac.lab.terrains.utils.color_meshes_by_height:1::1 +msgid "" +":py:obj:`color_meshes_by_height " +"`\\ \\(meshes\\, " +"\\*\\*kwargs\\)" +msgstr "" + +#: of omni.isaac.lab.terrains.utils.color_meshes_by_height:1::1 +msgid "" +"Color the vertices of a trimesh object based on the z-coordinate (height)" +" of each vertex, using the Turbo colormap." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.color_meshes_by_height:1::1 +msgid "" +":py:obj:`create_prim_from_mesh " +"`\\ " +"\\(prim\\_path\\, mesh\\, \\*\\*kwargs\\)" +msgstr "" + +#: of omni.isaac.lab.terrains.utils.color_meshes_by_height:1::1 +#: omni.isaac.lab.terrains.utils.create_prim_from_mesh:1 +msgid "Create a USD prim with mesh defined from vertices and triangles." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.color_meshes_by_height:1::1 +msgid "" +":py:obj:`find_flat_patches " +"`\\ \\(wp\\_mesh\\, " +"num\\_patches\\, ...\\)" +msgstr "" + +#: of omni.isaac.lab.terrains.utils.color_meshes_by_height:1::1 +#: omni.isaac.lab.terrains.utils.find_flat_patches:1 +msgid "Finds flat patches of given radius in the input mesh." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.color_meshes_by_height:1 +msgid "" +"Color the vertices of a trimesh object based on the z-coordinate (height)" +" of each vertex, using the Turbo colormap. If the z-coordinates are all " +"the same, the vertices will be colored with a single color." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.color_meshes_by_height:5 +msgid "A list of trimesh objects." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.color_meshes_by_height +#: omni.isaac.lab.terrains.utils.create_prim_from_mesh +msgid "Keyword Arguments" +msgstr "" + +#: of omni.isaac.lab.terrains.utils.color_meshes_by_height:7 +msgid "" +"A list of 3 integers in the range [0,255] representing the RGB color of " +"the mesh. Used when the z-coordinates of all vertices are the same." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.color_meshes_by_height:9 +msgid "The name of the color map to be used. Defaults to \"turbo\"." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.color_meshes_by_height:11 +msgid "" +"A trimesh object with the vertices colored based on the z-coordinate " +"(height) of each vertex." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.create_prim_from_mesh:3 +msgid "" +"The function creates a USD prim with a mesh defined from vertices and " +"triangles. It performs the following steps:" +msgstr "" + +#: of omni.isaac.lab.terrains.utils.create_prim_from_mesh:6 +msgid "Create a USD Xform prim at the path :obj:`prim_path`." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.create_prim_from_mesh:7 +msgid "" +"Create a USD prim with a mesh defined from the input vertices and " +"triangles at the path :obj:`{prim_path}/mesh`." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.create_prim_from_mesh:8 +msgid "" +"Assign a physics material to the mesh at the path " +":obj:`{prim_path}/physicsMaterial`." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.create_prim_from_mesh:9 +msgid "" +"Assign a visual material to the mesh at the path " +":obj:`{prim_path}/visualMaterial`." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.create_prim_from_mesh:11 +msgid "The path to the primitive to be created." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.create_prim_from_mesh:12 +msgid "The mesh to be used for the primitive." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.create_prim_from_mesh:14 +msgid "The translation of the terrain. Defaults to None." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.create_prim_from_mesh:15 +msgid "The orientation of the terrain. Defaults to None." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.create_prim_from_mesh:16 +msgid "The visual material to apply. Defaults to None." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.create_prim_from_mesh:17 +msgid "The physics material to apply. Defaults to None." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:3 +msgid "" +"The function finds flat patches of given radius based on the search space" +" defined by the input ranges. The search space is characterized by origin" +" in the mesh frame, and the x, y, and z ranges. The x and y ranges are " +"used to sample points in the 2D region around the origin, and the z range" +" is used to filter patches based on the height of the points." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:8 +msgid "" +"The function performs rejection sampling to find the patches based on the" +" following steps:" +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:10 +msgid "Sample patch locations in the 2D region around the origin." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:11 +msgid "" +"Define a ring of points around each patch location to query the height of" +" the points using ray-casting." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:12 +msgid "" +"Reject patches that are outside the z range or have a height difference " +"that is too large." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:13 +msgid "Keep sampling until all patches are valid." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:15 +msgid "The warp mesh to find patches in." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:16 +msgid "The desired number of patches to find." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:17 +msgid "" +"The radii used to form patches. If a list is provided, multiple patch " +"sizes are checked. This is useful to deal with holes or other artifacts " +"in the mesh." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:19 +msgid "" +"The origin defining the center of the search space. This is specified in " +"the mesh frame." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:20 +msgid "The range of X coordinates to sample from." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:21 +msgid "The range of Y coordinates to sample from." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:22 +msgid "The range of valid Z coordinates used for filtering patches." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:23 +msgid "" +"The maximum allowable distance between the lowest and highest points on a" +" patch to consider it as valid. If the difference is greater than this " +"value, the patch is rejected." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:27 +msgid "" +"A tensor of shape (num_patches, 3) containing the flat patches. The " +"patches are defined in the mesh frame." +msgstr "" + +#: of omni.isaac.lab.terrains.utils.find_flat_patches:29 +msgid "" +"If the function fails to find valid patches. This can happen if the input" +" parameters are not suitable for finding valid patches and maximum " +"number of iterations is reached." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.utils.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.utils.po new file mode 100644 index 0000000000..70bdf9a6e6 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab/omni.isaac.lab.utils.po @@ -0,0 +1,3619 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:2 +msgid "omni.isaac.lab.utils" +msgstr "" + +#: of omni.isaac.lab.utils:1 +msgid "" +"Sub-package containing utilities for common operations and helper " +"functions." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:7 +msgid "Submodules" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`io `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 of +#: omni.isaac.lab.utils.io:1 +msgid "Submodules for files IO operations." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`array `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 of +#: omni.isaac.lab.utils.array:1 +msgid "Sub-module containing utilities for working with different array backends." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`assets `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 of +#: omni.isaac.lab.utils.assets:1 +msgid "" +"Sub-module that defines the host-server where assets and resources are " +"stored." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`buffers `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 of +#: omni.isaac.lab.utils.buffers:1 +msgid "Sub-module containing different buffers." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`dict `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 of +#: omni.isaac.lab.utils.dict:1 +msgid "Sub-module for utilities for working with dictionaries." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`interpolation `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 of +#: omni.isaac.lab.utils.interpolation:1 +msgid "Submodule for different interpolation methods." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`math `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 of +#: omni.isaac.lab.utils.math:1 +msgid "Sub-module containing utilities for various math operations." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`noise `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 of +#: omni.isaac.lab.utils.noise:1 +msgid "Sub-module containing different noise models implementations." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`string `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 of +#: omni.isaac.lab.utils.string:1 +msgid "" +"Sub-module containing utilities for transforming strings and regular " +"expressions." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`timer `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 of +#: omni.isaac.lab.utils.timer:1 +msgid "" +"Sub-module for a timer class that can be used for performance " +"measurements." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 +msgid ":py:obj:`warp `\\" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:21::1 of +#: omni.isaac.lab.utils.warp:1 +msgid "Sub-module containing operations based on warp." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:23 +msgid "Functions" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:26::1 +msgid "" +":py:obj:`configclass `\\ \\(cls\\, " +"\\*\\*kwargs\\)" +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:26::1 of +#: omni.isaac.lab.utils.configclass.configclass:1 +#: omni.isaac.lab.utils.configclass.configclass:1::1 +msgid "" +"Wrapper around `dataclass` functionality to add extra checks and " +"utilities." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:29 +msgid "Configuration class" +msgstr "" + +#: of omni.isaac.lab.utils.configclass:1 +msgid "" +"Sub-module that provides a wrapper around the Python 3.7 onwards " +"``dataclasses`` module." +msgstr "" + +#: of omni.isaac.lab.utils.array:1 omni.isaac.lab.utils.assets:1 +#: omni.isaac.lab.utils.configclass:1 omni.isaac.lab.utils.dict:1 +#: omni.isaac.lab.utils.io:1 omni.isaac.lab.utils.math:1 +#: omni.isaac.lab.utils.noise:1 omni.isaac.lab.utils.string:1 +#: omni.isaac.lab.utils.warp:1 +msgid "**Functions:**" +msgstr "" + +#: of omni.isaac.lab.utils.configclass.configclass:1::1 +msgid "" +":py:obj:`configclass `\\ " +"\\(cls\\, \\*\\*kwargs\\)" +msgstr "" + +#: of omni.isaac.lab.utils.configclass.configclass:3 +msgid "" +"As of Python 3.7, the standard dataclasses have two main issues which " +"makes them non-generic for configuration use-cases. These include:" +msgstr "" + +#: of omni.isaac.lab.utils.configclass.configclass:6 +msgid "Requiring a type annotation for all its members." +msgstr "" + +#: of omni.isaac.lab.utils.configclass.configclass:7 +msgid "" +"Requiring explicit usage of :meth:`field(default_factory=...)` to " +"reinitialize mutable variables." +msgstr "" + +#: of omni.isaac.lab.utils.configclass.configclass:9 +msgid "" +"This function provides a decorator that wraps around Python's " +"`dataclass`_ utility to deal with the above two issues. It also provides " +"additional helper functions for dictionary <-> class conversion and " +"easily copying class instances." +msgstr "" + +#: of omni.isaac.lab.utils.configclass.configclass:13 +#: omni.isaac.lab.utils.noise:6 +msgid "Usage:" +msgstr "" + +#: of omni.isaac.lab.utils.array.convert_to_torch +#: omni.isaac.lab.utils.assets.check_file_path +#: omni.isaac.lab.utils.assets.read_file +#: omni.isaac.lab.utils.assets.retrieve_file_path +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__ +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.append +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.reset +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__ +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.compute +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.reset +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag +#: omni.isaac.lab.utils.configclass.configclass +#: omni.isaac.lab.utils.dict.class_to_dict +#: omni.isaac.lab.utils.dict.convert_dict_to_backend +#: omni.isaac.lab.utils.dict.dict_to_md5_hash +#: omni.isaac.lab.utils.dict.update_class_from_dict +#: omni.isaac.lab.utils.dict.update_dict +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__ +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.compute +#: omni.isaac.lab.utils.io.pkl.dump_pickle +#: omni.isaac.lab.utils.io.pkl.load_pickle +#: omni.isaac.lab.utils.io.yaml.dump_yaml +#: omni.isaac.lab.utils.io.yaml.load_yaml +#: omni.isaac.lab.utils.math.apply_delta_pose +#: omni.isaac.lab.utils.math.axis_angle_from_quat +#: omni.isaac.lab.utils.math.combine_frame_transforms +#: omni.isaac.lab.utils.math.compute_pose_error +#: omni.isaac.lab.utils.math.convert_quat omni.isaac.lab.utils.math.copysign +#: omni.isaac.lab.utils.math.default_orientation +#: omni.isaac.lab.utils.math.euler_xyz_from_quat +#: omni.isaac.lab.utils.math.is_identity_pose +#: omni.isaac.lab.utils.math.matrix_from_euler +#: omni.isaac.lab.utils.math.matrix_from_quat +#: omni.isaac.lab.utils.math.normalize omni.isaac.lab.utils.math.project_points +#: omni.isaac.lab.utils.math.quat_apply +#: omni.isaac.lab.utils.math.quat_apply_yaw +#: omni.isaac.lab.utils.math.quat_box_minus +#: omni.isaac.lab.utils.math.quat_conjugate +#: omni.isaac.lab.utils.math.quat_error_magnitude +#: omni.isaac.lab.utils.math.quat_from_angle_axis +#: omni.isaac.lab.utils.math.quat_from_euler_xyz +#: omni.isaac.lab.utils.math.quat_from_matrix +#: omni.isaac.lab.utils.math.quat_inv omni.isaac.lab.utils.math.quat_mul +#: omni.isaac.lab.utils.math.quat_rotate +#: omni.isaac.lab.utils.math.quat_rotate_inverse +#: omni.isaac.lab.utils.math.quat_unique +#: omni.isaac.lab.utils.math.random_orientation +#: omni.isaac.lab.utils.math.random_yaw_orientation +#: omni.isaac.lab.utils.math.sample_cylinder +#: omni.isaac.lab.utils.math.sample_gaussian +#: omni.isaac.lab.utils.math.sample_log_uniform +#: omni.isaac.lab.utils.math.sample_triangle +#: omni.isaac.lab.utils.math.sample_uniform omni.isaac.lab.utils.math.saturate +#: omni.isaac.lab.utils.math.scale_transform +#: omni.isaac.lab.utils.math.skew_symmetric_matrix +#: omni.isaac.lab.utils.math.subtract_frame_transforms +#: omni.isaac.lab.utils.math.transform_points +#: omni.isaac.lab.utils.math.unproject_depth +#: omni.isaac.lab.utils.math.unscale_transform +#: omni.isaac.lab.utils.math.wrap_to_pi omni.isaac.lab.utils.math.yaw_quat +#: omni.isaac.lab.utils.noise.noise_model.NoiseModel.apply +#: omni.isaac.lab.utils.noise.noise_model.NoiseModel.reset +#: omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.apply +#: omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.reset +#: omni.isaac.lab.utils.string.callable_to_string +#: omni.isaac.lab.utils.string.is_lambda_expression +#: omni.isaac.lab.utils.string.resolve_matching_names +#: omni.isaac.lab.utils.string.resolve_matching_names_values +#: omni.isaac.lab.utils.string.string_to_callable +#: omni.isaac.lab.utils.string.to_camel_case +#: omni.isaac.lab.utils.string.to_snake_case +#: omni.isaac.lab.utils.timer.Timer.__init__ +#: omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh +#: omni.isaac.lab.utils.warp.ops.raycast_mesh +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab.utils.configclass.configclass:46 +msgid "The class to wrap around." +msgstr "" + +#: of omni.isaac.lab.utils.configclass.configclass:47 +msgid "Additional arguments to pass to :func:`dataclass`." +msgstr "" + +#: of omni.isaac.lab.utils.array.convert_to_torch +#: omni.isaac.lab.utils.assets.check_file_path +#: omni.isaac.lab.utils.assets.read_file +#: omni.isaac.lab.utils.assets.retrieve_file_path +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.compute +#: omni.isaac.lab.utils.configclass.configclass +#: omni.isaac.lab.utils.dict.class_to_dict +#: omni.isaac.lab.utils.dict.convert_dict_to_backend +#: omni.isaac.lab.utils.dict.dict_to_md5_hash +#: omni.isaac.lab.utils.dict.update_dict +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.compute +#: omni.isaac.lab.utils.io.pkl.load_pickle +#: omni.isaac.lab.utils.io.yaml.load_yaml +#: omni.isaac.lab.utils.math.apply_delta_pose +#: omni.isaac.lab.utils.math.axis_angle_from_quat +#: omni.isaac.lab.utils.math.combine_frame_transforms +#: omni.isaac.lab.utils.math.compute_pose_error +#: omni.isaac.lab.utils.math.convert_quat omni.isaac.lab.utils.math.copysign +#: omni.isaac.lab.utils.math.default_orientation +#: omni.isaac.lab.utils.math.euler_xyz_from_quat +#: omni.isaac.lab.utils.math.is_identity_pose +#: omni.isaac.lab.utils.math.matrix_from_euler +#: omni.isaac.lab.utils.math.matrix_from_quat +#: omni.isaac.lab.utils.math.normalize omni.isaac.lab.utils.math.project_points +#: omni.isaac.lab.utils.math.quat_apply +#: omni.isaac.lab.utils.math.quat_apply_yaw +#: omni.isaac.lab.utils.math.quat_box_minus +#: omni.isaac.lab.utils.math.quat_conjugate +#: omni.isaac.lab.utils.math.quat_error_magnitude +#: omni.isaac.lab.utils.math.quat_from_angle_axis +#: omni.isaac.lab.utils.math.quat_from_euler_xyz +#: omni.isaac.lab.utils.math.quat_from_matrix +#: omni.isaac.lab.utils.math.quat_inv omni.isaac.lab.utils.math.quat_mul +#: omni.isaac.lab.utils.math.quat_rotate +#: omni.isaac.lab.utils.math.quat_rotate_inverse +#: omni.isaac.lab.utils.math.quat_unique +#: omni.isaac.lab.utils.math.random_orientation +#: omni.isaac.lab.utils.math.random_yaw_orientation +#: omni.isaac.lab.utils.math.sample_cylinder +#: omni.isaac.lab.utils.math.sample_gaussian +#: omni.isaac.lab.utils.math.sample_log_uniform +#: omni.isaac.lab.utils.math.sample_triangle +#: omni.isaac.lab.utils.math.sample_uniform omni.isaac.lab.utils.math.saturate +#: omni.isaac.lab.utils.math.scale_transform +#: omni.isaac.lab.utils.math.skew_symmetric_matrix +#: omni.isaac.lab.utils.math.subtract_frame_transforms +#: omni.isaac.lab.utils.math.transform_points +#: omni.isaac.lab.utils.math.unproject_depth +#: omni.isaac.lab.utils.math.unscale_transform +#: omni.isaac.lab.utils.math.wrap_to_pi omni.isaac.lab.utils.math.yaw_quat +#: omni.isaac.lab.utils.string.callable_to_string +#: omni.isaac.lab.utils.string.is_lambda_expression +#: omni.isaac.lab.utils.string.resolve_matching_names +#: omni.isaac.lab.utils.string.resolve_matching_names_values +#: omni.isaac.lab.utils.string.string_to_callable +#: omni.isaac.lab.utils.string.to_camel_case +#: omni.isaac.lab.utils.string.to_snake_case +#: omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh +#: omni.isaac.lab.utils.warp.ops.raycast_mesh +msgid "Returns" +msgstr "" + +#: of omni.isaac.lab.utils.configclass.configclass:49 +msgid "The wrapped class." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:36 +msgid "IO operations" +msgstr "" + +#: of omni.isaac.lab.utils.io.pkl.dump_pickle:1::1 +msgid "" +":py:obj:`dump_pickle `\\ " +"\\(filename\\, data\\)" +msgstr "" + +#: of omni.isaac.lab.utils.io.pkl.dump_pickle:1 +#: omni.isaac.lab.utils.io.pkl.dump_pickle:1::1 +msgid "Saves data into a pickle file safely." +msgstr "" + +#: of omni.isaac.lab.utils.io.pkl.dump_pickle:1::1 +msgid "" +":py:obj:`load_pickle `\\ " +"\\(filename\\)" +msgstr "" + +#: of omni.isaac.lab.utils.io.pkl.dump_pickle:1::1 +#: omni.isaac.lab.utils.io.pkl.load_pickle:1 +#: omni.isaac.lab.utils.io.yaml.load_yaml:1 +msgid "Loads an input PKL file safely." +msgstr "" + +#: of omni.isaac.lab.utils.io.pkl.dump_pickle:1::1 +msgid "" +":py:obj:`dump_yaml `\\ \\(filename\\, " +"data\\[\\, sort\\_keys\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.io.pkl.dump_pickle:1::1 +#: omni.isaac.lab.utils.io.yaml.dump_yaml:1 +msgid "Saves data into a YAML file safely." +msgstr "" + +#: of omni.isaac.lab.utils.io.pkl.dump_pickle:1::1 +msgid ":py:obj:`load_yaml `\\ \\(filename\\)" +msgstr "" + +#: of omni.isaac.lab.utils.io.pkl.dump_pickle:3 +#: omni.isaac.lab.utils.io.yaml.dump_yaml:3 +msgid "The function creates any missing directory along the file's path." +msgstr "" + +#: of omni.isaac.lab.utils.io.pkl.dump_pickle:5 +#: omni.isaac.lab.utils.io.yaml.dump_yaml:5 +msgid "The path to save the file at." +msgstr "" + +#: of omni.isaac.lab.utils.io.pkl.dump_pickle:6 +msgid "The data to save." +msgstr "" + +#: of omni.isaac.lab.utils.io.pkl.load_pickle:3 +#: omni.isaac.lab.utils.io.yaml.load_yaml:3 +msgid "The path to pickled file." +msgstr "" + +#: of omni.isaac.lab.utils.assets.read_file +#: omni.isaac.lab.utils.assets.retrieve_file_path +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__ +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.append +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag +#: omni.isaac.lab.utils.dict.class_to_dict +#: omni.isaac.lab.utils.dict.convert_dict_to_backend +#: omni.isaac.lab.utils.dict.update_class_from_dict +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__ +#: omni.isaac.lab.utils.io.pkl.load_pickle +#: omni.isaac.lab.utils.io.yaml.load_yaml +#: omni.isaac.lab.utils.math.compute_pose_error +#: omni.isaac.lab.utils.math.convert_quat omni.isaac.lab.utils.math.quat_mul +#: omni.isaac.lab.utils.math.skew_symmetric_matrix +#: omni.isaac.lab.utils.math.transform_points +#: omni.isaac.lab.utils.math.unproject_depth +#: omni.isaac.lab.utils.string.callable_to_string +#: omni.isaac.lab.utils.string.resolve_matching_names +#: omni.isaac.lab.utils.string.resolve_matching_names_values +#: omni.isaac.lab.utils.string.string_to_callable +#: omni.isaac.lab.utils.string.to_camel_case +msgid "Raises" +msgstr "" + +#: of omni.isaac.lab.utils.io.pkl.load_pickle:5 +#: omni.isaac.lab.utils.io.yaml.load_yaml:5 +msgid "When the specified file does not exist." +msgstr "" + +#: of omni.isaac.lab.utils.io.pkl.load_pickle:7 +#: omni.isaac.lab.utils.io.yaml.load_yaml:7 +msgid "The data read from the input file." +msgstr "" + +#: of omni.isaac.lab.utils.io.yaml.dump_yaml:6 +msgid "The data to save either a dictionary or class object." +msgstr "" + +#: of omni.isaac.lab.utils.io.yaml.dump_yaml:7 +msgid "Whether to sort the keys in the output file. Defaults to False." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:44 +msgid "Array operations" +msgstr "" + +#: of omni.isaac.lab.utils.array:1 omni.isaac.lab.utils.assets:1 +msgid "**Data:**" +msgstr "" + +#: of omni.isaac.lab.utils.array:1::1 +msgid ":py:obj:`TENSOR_TYPES `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.array.TENSOR_TYPES:1 +#: omni.isaac.lab.utils.array:1::1 +msgid "A dictionary containing the types for each backend." +msgstr "" + +#: of omni.isaac.lab.utils.array:1::1 +msgid "" +":py:obj:`TENSOR_TYPE_CONVERSIONS " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.array.TENSOR_TYPE_CONVERSIONS:1 +#: omni.isaac.lab.utils.array:1::1 +msgid "A nested dictionary containing the conversion functions for each backend." +msgstr "" + +#: of typing.Union:1::1 +msgid "" +":py:obj:`convert_to_torch " +"`\\ \\(array\\[\\, dtype\\, " +"device\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.array.convert_to_torch:1 +#: typing.Union:1::1 +msgid "Converts a given array into a torch tensor." +msgstr "" + +#: ../../docstring of typing.Union:1 +msgid "Type definition for a tensor data." +msgstr "" + +#: ../../docstring of typing.Union:3 +msgid "Union of numpy, torch, and warp arrays." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.array.TENSOR_TYPES:3 +msgid "" +"The keys are the name of the backend (\"numpy\", \"torch\", \"warp\") and" +" the values are the corresponding type (``np.ndarray``, ``torch.Tensor``," +" ``wp.array``)." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.array.TENSOR_TYPE_CONVERSIONS:3 +msgid "" +"The keys of the outer dictionary are the name of target backend " +"(\"numpy\", \"torch\", \"warp\"). The keys of the inner dictionary are " +"the source backend (``np.ndarray``, ``torch.Tensor``, ``wp.array``)." +msgstr "" + +#: of omni.isaac.lab.utils.array.convert_to_torch:3 +msgid "" +"The function tries to convert the array to a torch tensor. If the array " +"is a numpy/warp arrays, or python list/tuples, it is converted to a torch" +" tensor. If the array is already a torch tensor, it is returned directly." +msgstr "" + +#: of omni.isaac.lab.utils.array.convert_to_torch:7 +msgid "" +"If ``device`` is None, then the function deduces the current device of " +"the data. For numpy arrays, this defaults to \"cpu\", for torch tensors " +"it is \"cpu\" or \"cuda\", and for warp arrays it is \"cuda\"." +msgstr "" + +#: of omni.isaac.lab.utils.array.convert_to_torch:12 +msgid "" +"Since PyTorch does not support unsigned integer types, unsigned integer " +"arrays are converted to signed integer arrays. This is done by casting " +"the array to the corresponding signed integer type." +msgstr "" + +#: of omni.isaac.lab.utils.array.convert_to_torch:15 +msgid "" +"The input array. It can be a numpy array, warp array, python list/tuple, " +"or torch tensor." +msgstr "" + +#: of omni.isaac.lab.utils.array.convert_to_torch:16 +msgid "Target data-type for the tensor." +msgstr "" + +#: of omni.isaac.lab.utils.array.convert_to_torch:17 +msgid "The target device for the tensor. Defaults to None." +msgstr "" + +#: of omni.isaac.lab.utils.array.convert_to_torch:19 +msgid "The converted array as torch tensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:51 +msgid "Asset operations" +msgstr "" + +#: of omni.isaac.lab.utils.assets:3 +msgid "" +"By default, we use the Isaac Sim Nucleus Server for hosting assets and " +"resources. This makes distribution of the assets easier and makes the " +"repository smaller in size code-wise." +msgstr "" + +#: of omni.isaac.lab.utils.assets:6 +msgid "For more information, please check information on `Omniverse Nucleus`_." +msgstr "" + +#: of omni.isaac.lab.utils.assets:1::1 +msgid "" +":py:obj:`NUCLEUS_ASSET_ROOT_DIR " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR:1 +#: omni.isaac.lab.utils.assets:1::1 +msgid "Path to the root directory on the Nucleus Server." +msgstr "" + +#: of omni.isaac.lab.utils.assets:1::1 +msgid "" +":py:obj:`NVIDIA_NUCLEUS_DIR " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR:1 +#: omni.isaac.lab.utils.assets:1::1 +msgid "Path to the root directory on the NVIDIA Nucleus Server." +msgstr "" + +#: of omni.isaac.lab.utils.assets:1::1 +msgid "" +":py:obj:`ISAAC_NUCLEUS_DIR " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.assets.ISAAC_NUCLEUS_DIR:1 +#: omni.isaac.lab.utils.assets:1::1 +msgid "Path to the ``Isaac`` directory on the NVIDIA Nucleus Server." +msgstr "" + +#: of omni.isaac.lab.utils.assets:1::1 +msgid "" +":py:obj:`ISAACLAB_NUCLEUS_DIR " +"`\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.assets.ISAACLAB_NUCLEUS_DIR:1 +#: omni.isaac.lab.utils.assets:1::1 +msgid "Path to the ``Isaac/IsaacLab`` directory on the NVIDIA Nucleus Server." +msgstr "" + +#: of omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR:1::1 +msgid "" +":py:obj:`check_file_path `\\" +" \\(path\\)" +msgstr "" + +#: of omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR:1::1 +#: omni.isaac.lab.utils.assets.check_file_path:1 +msgid "Checks if a file exists on the Nucleus Server or locally." +msgstr "" + +#: of omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR:1::1 +msgid "" +":py:obj:`retrieve_file_path " +"`\\ \\(path\\[\\, " +"download\\_dir\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR:1::1 +#: omni.isaac.lab.utils.assets.retrieve_file_path:1 +msgid "Retrieves the path to a file on the Nucleus Server or locally." +msgstr "" + +#: of omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR:1::1 +msgid ":py:obj:`read_file `\\ \\(path\\)" +msgstr "" + +#: of omni.isaac.lab.utils.assets.NUCLEUS_ASSET_ROOT_DIR:1::1 +#: omni.isaac.lab.utils.assets.read_file:1 +msgid "Reads a file from the Nucleus Server or locally." +msgstr "" + +#: of omni.isaac.lab.utils.assets.check_file_path:3 +#: omni.isaac.lab.utils.assets.read_file:3 +#: omni.isaac.lab.utils.assets.retrieve_file_path:7 +msgid "The path to the file." +msgstr "" + +#: of omni.isaac.lab.utils.assets.check_file_path:5 +msgid "" +"The status of the file. Possible values are listed below. * :obj:`0` if " +"the file does not exist * :obj:`1` if the file exists locally * :obj:`2` " +"if the file exists on the Nucleus Server" +msgstr "" + +#: of omni.isaac.lab.utils.assets.check_file_path:5 +msgid "The status of the file. Possible values are listed below." +msgstr "" + +#: of omni.isaac.lab.utils.assets.check_file_path:7 +msgid ":obj:`0` if the file does not exist" +msgstr "" + +#: of omni.isaac.lab.utils.assets.check_file_path:8 +msgid ":obj:`1` if the file exists locally" +msgstr "" + +#: of omni.isaac.lab.utils.assets.check_file_path:9 +msgid ":obj:`2` if the file exists on the Nucleus Server" +msgstr "" + +#: of omni.isaac.lab.utils.assets.retrieve_file_path:3 +msgid "" +"If the file exists locally, then the absolute path to the file is " +"returned. If the file exists on the Nucleus Server, then the file is " +"downloaded to the local machine and the absolute path to the file is " +"returned." +msgstr "" + +#: of omni.isaac.lab.utils.assets.retrieve_file_path:8 +msgid "" +"The directory where the file should be downloaded. Defaults to None, in " +"which case the file is downloaded to the system's temporary directory." +msgstr "" + +#: of omni.isaac.lab.utils.assets.retrieve_file_path:10 +msgid "" +"Whether to force download the file from the Nucleus Server. This will " +"overwrite the local file if it exists. Defaults to True." +msgstr "" + +#: of omni.isaac.lab.utils.assets.retrieve_file_path:13 +msgid "The path to the file on the local machine." +msgstr "" + +#: of omni.isaac.lab.utils.assets.read_file:5 +#: omni.isaac.lab.utils.assets.retrieve_file_path:15 +msgid "When the file not found locally or on Nucleus Server." +msgstr "" + +#: of omni.isaac.lab.utils.assets.retrieve_file_path:16 +msgid "" +"When the file cannot be copied from the Nucleus Server to the local " +"machine. This can happen when the file already exists locally and " +":attr:`force_download` is set to False." +msgstr "" + +#: of omni.isaac.lab.utils.assets.read_file:7 +msgid "The content of the file." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:58 +msgid "Buffer operations" +msgstr "" + +#: of omni.isaac.lab.utils.buffers:1 omni.isaac.lab.utils.interpolation:1 +#: omni.isaac.lab.utils.noise:1 +#: omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg:1 +#: omni.isaac.lab.utils.noise.noise_cfg.NoiseModelWithAdditiveBiasCfg:1 +#: omni.isaac.lab.utils.timer:1 +msgid "**Classes:**" +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid ":py:obj:`CircularBuffer `\\" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1 +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid "Circular buffer for storing a history of batched tensor data." +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid ":py:obj:`DelayBuffer `\\" +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1 +msgid "Delay buffer that allows retrieving stored data with delays." +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid "" +":py:obj:`TimestampedBuffer " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +#: omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1 +msgid "A buffer class containing data and its timestamp." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1 +#: omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1 +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation:1 +#: omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1 +#: omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg:1 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModel:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:3 +msgid "" +"This class implements a circular buffer for storing a history of batched " +"tensor data. The buffer is initialized with a maximum length and a batch " +"size. The data is stored in a circular fashion, and the data can be " +"retrieved in a LIFO (Last-In-First-Out) fashion. The buffer is designed " +"to be used in multi-environment settings, where each environment has its " +"own data." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:8 +msgid "" +"The shape of the appended data is expected to be (batch_size, ...), where" +" the first dimension is the batch dimension. Correspondingly, the shape " +"of the ring buffer is (max_len, batch_size, ...)." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1 +#: omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1 +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation:1 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModel:1 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:1 +#: omni.isaac.lab.utils.timer.Timer:1 +msgid "**Methods:**" +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ \\(max\\_len\\," +" batch\\_size\\, device\\)" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1 +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid "Initialize the circular buffer." +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[batch\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.reset:1 +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid "Reset the circular buffer at the specified batch indices." +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid "" +":py:obj:`append `\\ " +"\\(data\\)" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.append:1 +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1::1 +msgid "Append the data to the circular buffer." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer:1 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1 +#: omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1 +#: omni.isaac.lab.utils.noise.noise_cfg.ConstantNoiseCfg:1 +#: omni.isaac.lab.utils.noise.noise_cfg.GaussianNoiseCfg:1 +#: omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1 +#: omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg:1 +#: omni.isaac.lab.utils.noise.noise_cfg.UniformNoiseCfg:1 +#: omni.isaac.lab.utils.timer.Timer:1 +msgid "**Attributes:**" +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +msgid "" +":py:obj:`batch_size " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.CircularBuffer.batch_size:1 +#: omni.isaac.lab.utils.buffers.DelayBuffer.batch_size:1 +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid "The batch size of the ring buffer." +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.CircularBuffer.device:1 +#: omni.isaac.lab.utils.buffers.DelayBuffer.device:1 +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:5 +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:7 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:11 +msgid "The device used for processing." +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +msgid "" +":py:obj:`max_length " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.CircularBuffer.max_length:1 +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +msgid "The maximum length of the ring buffer." +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +msgid "" +":py:obj:`current_length " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:1::1 +msgid "The current length of the buffer." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:3 +msgid "The maximum length of the circular buffer. The minimum allowed value is 1." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:4 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:6 +msgid "The batch dimension of the data." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.__init__:7 +msgid "If the buffer size is less than one." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.CircularBuffer.current_length:1 +msgid "The current length of the buffer. Shape is (batch_size,)." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.CircularBuffer.current_length:3 +msgid "" +"Since the buffer is circular, the current length is the minimum of the " +"number of pushes and the maximum length." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.reset:3 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.reset:3 +msgid "" +"Elements to reset in the batch dimension. Default is None, which resets " +"all the batch indices." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.append:3 +msgid "" +"The data to append to the circular buffer. The first dimension should be " +"the batch dimension. Shape is (batch_size, ...)." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.circular_buffer.CircularBuffer.append:6 +msgid "If the input data has a different batch size than the buffer." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:3 +msgid "" +"This class uses a batched circular buffer to store input data. Different " +"to a standard circular buffer, which uses the LIFO (last-in-first-out) " +"principle to retrieve the data, the delay buffer class allows retrieving " +"data based on the lag set by the user. For instance, if the delay set " +"inside the buffer is 1, then the second last entry from the stream is " +"retrieved. If it is 2, then the third last entry and so on." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:9 +msgid "" +"The class supports storing a batched tensor data. This means that the " +"shape of the appended data is expected to be (batch_size, ...), where the" +" first dimension is the batch dimension. Correspondingly, the delay can " +"be set separately for each batch index. If the requested delay is larger " +"than the current length of the underlying buffer, the most recent entry " +"is returned." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:15 +msgid "" +"By default, the delay buffer has no delay, meaning that the data is " +"returned as is." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(history\\_length\\, batch\\_size\\, device\\)" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid "Initialize the delay buffer." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid "" +":py:obj:`set_time_lag " +"`\\ " +"\\(time\\_lag\\[\\, batch\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:1 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid "Sets the time lag for the delay buffer across the provided batch indices." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(\\[batch\\_ids\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.reset:1 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid "Reset the data in the delay buffer at the specified batch indices." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid "" +":py:obj:`compute `\\ " +"\\(data\\)" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.compute:1 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer:1::1 +msgid "" +"Append the input data to the buffer and returns a stale version of the " +"data based on time lag delay." +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid "" +":py:obj:`batch_size " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid ":py:obj:`device `\\" +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid "" +":py:obj:`history_length " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.DelayBuffer.history_length:1 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid "The history length of the delay buffer." +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid "" +":py:obj:`min_time_lag " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.DelayBuffer.min_time_lag:1 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid "Minimum amount of time steps that can be delayed." +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid "" +":py:obj:`max_time_lag " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.DelayBuffer.max_time_lag:1 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid "Maximum amount of time steps that can be delayed." +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid ":py:obj:`time_lags `\\" +msgstr "" + +#: of omni.isaac.lab.utils.buffers.DelayBuffer.time_lags:1 +#: omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:1::1 +msgid "The time lag across each batch index." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.__init__:3 +msgid "" +"The history of the buffer, i.e., the number of time steps in the past " +"that the data will be buffered. It is recommended to set this value equal" +" to the maximum time-step lag that is expected. The minimum acceptable " +"value is zero, which means only the latest data is stored." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.DelayBuffer.history_length:3 +msgid "" +"If zero, only the latest data is stored. If one, the latest and the " +"previous data are stored, and so on." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.DelayBuffer.min_time_lag:3 +msgid "This value cannot be negative or larger than :attr:`max_time_lag`." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.DelayBuffer.max_time_lag:3 +msgid "This value cannot be greater than :attr:`history_length`." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.DelayBuffer.time_lags:3 +msgid "" +"The shape of the tensor is (batch_size, ). The value at each index " +"represents the delay for that index. This value is used to retrieve the " +"data from the buffer." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:3 +msgid "" +"The desired delay for the buffer. * If an integer is provided, the same " +"delay is set for the provided batch indices. * If a tensor is provided, " +"the delay is set for each batch index separately. The shape of the tensor" +" should be (len(batch_ids),)." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:3 +msgid "The desired delay for the buffer." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:5 +msgid "" +"If an integer is provided, the same delay is set for the provided batch " +"indices." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:6 +msgid "" +"If a tensor is provided, the delay is set for each batch index " +"separately. The shape of the tensor should be (len(batch_ids),)." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:8 +msgid "" +"The batch indices for which the time lag is set. Default is None, which " +"sets the time lag for all batch indices." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:11 +msgid "If the type of the :attr:`time_lag` is not int or integer tensor." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.set_time_lag:12 +msgid "" +"If the minimum time lag is negative or the maximum time lag is larger " +"than the history length." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.compute:3 +msgid "" +"If the requested delay is larger than the number of buffered data points " +"since the last reset, the function returns the latest data. For instance," +" if the delay is set to 2 and only one data point is stored in the " +"buffer, the function will return the latest data. If the delay is set to " +"2 and three data points are stored, the function will return the first " +"data point." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.compute:8 +msgid "The input data. Shape is (batch_size, ...)." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.delay_buffer.DelayBuffer.compute:10 +msgid "" +"The delayed version of the data from the stored buffer. Shape is " +"(batch_size, ...)." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:3 +msgid "" +"This class is a simple data container that stores a tensor and its " +"timestamp. The timestamp is used to track the last update of the buffer. " +"The timestamp is set to -1.0 by default, indicating that the buffer has " +"not been updated yet. The timestamp should be updated whenever the data " +"in the buffer is updated. This way the buffer can be used to check " +"whether the data is outdated and needs to be refreshed." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:8 +msgid "" +"The buffer is useful for creating lazy buffers that only update the data " +"when it is outdated. This can be useful when the data is expensive to " +"compute or retrieve. For example usage, refer to the data classes in the " +":mod:`omni.isaac.lab.assets` module." +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1::1 +msgid ":py:obj:`data `\\" +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1::1 +msgid "The data stored in the buffer." +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1::1 +msgid "" +":py:obj:`timestamp " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.utils.buffers.timestamped_buffer.TimestampedBuffer:1::1 +msgid "Timestamp at the last update of the buffer." +msgstr "" + +#: of omni.isaac.lab.utils.buffers.TimestampedBuffer.data:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ " +"\\(\\[data\\, timestamp\\]\\)" +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.buffers.TimestampedBuffer.data:1 +msgid "" +"The data stored in the buffer. Default is None, indicating that the " +"buffer is empty." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab.utils.buffers.TimestampedBuffer.timestamp:1 +msgid "" +"Timestamp at the last update of the buffer. Default is -1.0, indicating " +"that the buffer has not been updated." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:67 +msgid "Dictionary operations" +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:1::1 +msgid "" +":py:obj:`class_to_dict `\\ " +"\\(obj\\)" +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:1 +#: omni.isaac.lab.utils.dict.class_to_dict:1::1 +msgid "Convert an object into dictionary recursively." +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:1::1 +msgid "" +":py:obj:`update_class_from_dict " +"`\\ \\(obj\\, " +"data\\[\\, \\_ns\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:1::1 +#: omni.isaac.lab.utils.dict.update_class_from_dict:1 +msgid "Reads a dictionary and sets object variables recursively." +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:1::1 +msgid "" +":py:obj:`dict_to_md5_hash `\\" +" \\(data\\)" +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:1::1 +#: omni.isaac.lab.utils.dict.dict_to_md5_hash:1 +msgid "Convert a dictionary into a hashable key using MD5 hash." +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:1::1 +msgid "" +":py:obj:`convert_dict_to_backend " +"`\\ \\(data\\[\\, " +"backend\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:1::1 +#: omni.isaac.lab.utils.dict.convert_dict_to_backend:1 +msgid "Convert all arrays or tensors in a dictionary to a given backend." +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:1::1 +msgid "" +":py:obj:`update_dict `\\ " +"\\(orig\\_dict\\, new\\_dict\\)" +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:1::1 +#: omni.isaac.lab.utils.dict.update_dict:1 +msgid "Updates existing dictionary with values from a new dictionary." +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:1::1 +msgid "" +":py:obj:`print_dict `\\ " +"\\(val\\[\\, nesting\\, start\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:1::1 +#: omni.isaac.lab.utils.dict.print_dict:1 +msgid "Outputs a nested dictionary." +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:3 +msgid "Ignores all names starting with \"__\" (i.e. built-in methods)." +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:5 +msgid "An instance of a class to convert." +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:7 +msgid "When input argument is not an object." +msgstr "" + +#: of omni.isaac.lab.utils.dict.class_to_dict:9 +msgid "Converted dictionary mapping." +msgstr "" + +#: of omni.isaac.lab.utils.dict.update_class_from_dict:3 +msgid "This function performs in-place update of the class member attributes." +msgstr "" + +#: of omni.isaac.lab.utils.dict.update_class_from_dict:5 +msgid "An instance of a class to update." +msgstr "" + +#: of omni.isaac.lab.utils.dict.update_class_from_dict:6 +msgid "Input dictionary to update from." +msgstr "" + +#: of omni.isaac.lab.utils.dict.update_class_from_dict:7 +msgid "" +"Namespace of the current object. This is useful for nested configuration " +"classes or dictionaries. Defaults to \"\"." +msgstr "" + +#: of omni.isaac.lab.utils.dict.update_class_from_dict:10 +msgid "When input is not a dictionary." +msgstr "" + +#: of omni.isaac.lab.utils.dict.update_class_from_dict:11 +msgid "When dictionary has a value that does not match default config type." +msgstr "" + +#: of omni.isaac.lab.utils.dict.update_class_from_dict:12 +msgid "When dictionary has a key that does not exist in the default config type." +msgstr "" + +#: of omni.isaac.lab.utils.dict.dict_to_md5_hash:3 +msgid "Input dictionary or configuration object to convert." +msgstr "" + +#: of omni.isaac.lab.utils.dict.dict_to_md5_hash:5 +msgid "A string object of double length containing only hexadecimal digits." +msgstr "" + +#: of omni.isaac.lab.utils.dict.convert_dict_to_backend:3 +msgid "" +"This function iterates over the dictionary, converts all arrays or " +"tensors with the given types to the desired backend, and stores them in a" +" new dictionary. It also works with nested dictionaries." +msgstr "" + +#: of omni.isaac.lab.utils.dict.convert_dict_to_backend:6 +msgid "Currently supported backends are \"numpy\", \"torch\", and \"warp\"." +msgstr "" + +#: of omni.isaac.lab.utils.dict.convert_dict_to_backend:10 +msgid "" +"This function only converts arrays or tensors. Other types of data are " +"left unchanged. Mutable types (e.g. lists) are referenced by the new " +"dictionary, so they are not copied." +msgstr "" + +#: of omni.isaac.lab.utils.dict.convert_dict_to_backend:13 +msgid "An input dict containing array or tensor data as values." +msgstr "" + +#: of omni.isaac.lab.utils.dict.convert_dict_to_backend:14 +msgid "" +"The backend (\"numpy\", \"torch\", \"warp\") to which arrays in this dict" +" should be converted. Defaults to \"numpy\"." +msgstr "" + +#: of omni.isaac.lab.utils.dict.convert_dict_to_backend:16 +msgid "" +"A list containing the types of arrays that should be converted to the " +"desired backend. Defaults to (\"numpy\", \"torch\", \"warp\")." +msgstr "" + +#: of omni.isaac.lab.utils.dict.convert_dict_to_backend:19 +msgid "" +"If the specified ``backend`` or ``array_types`` are unknown, i.e. not in " +"the list of supported backends (\"numpy\", \"torch\", \"warp\")." +msgstr "" + +#: of omni.isaac.lab.utils.dict.convert_dict_to_backend:21 +msgid "The updated dict with the data converted to the desired backend." +msgstr "" + +#: of omni.isaac.lab.utils.dict.update_dict:3 +msgid "" +"This function mimics the dict.update() function. However, it works for " +"nested dictionaries as well." +msgstr "" + +#: of omni.isaac.lab.utils.dict.update_dict:6 +msgid "The original dictionary to insert items to." +msgstr "" + +#: of omni.isaac.lab.utils.dict.update_dict:7 +msgid "The new dictionary to insert items from." +msgstr "" + +#: of omni.isaac.lab.utils.dict.update_dict:9 +msgid "The updated dictionary." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:74 +msgid "Interpolation operations" +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation:1::1 +msgid "" +":py:obj:`LinearInterpolation " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation:1 +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation:1::1 +msgid "" +"Linearly interpolates a sampled scalar function for arbitrary query " +"points." +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation:3 +msgid "" +"This class implements a linear interpolation for a scalar function. The " +"function maps from real values, x, to real values, y. It expects a set of" +" samples from the function's domain, x, and the corresponding values, y. " +"The class allows querying the function's values at any arbitrary point." +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation:7 +msgid "" +"The interpolation is done by finding the two closest points in x to the " +"query point and then linearly interpolating between the corresponding y " +"values. For the query points that are outside the input points, the class" +" does a zero-order-hold extrapolation based on the boundary values. This " +"means that the class returns the value of the closest point in x." +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ " +"\\(x\\, y\\, device\\)" +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:1 +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:1::1 +msgid "Initializes the linear interpolation." +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:1::1 +msgid "" +":py:obj:`compute " +"`\\ " +"\\(q\\)" +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:1::1 +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.compute:1 +msgid "Calculates a linearly interpolated values for the query points." +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:3 +msgid "" +"The scalar function maps from real values, x, to real values, y. The " +"input to the class is a set of samples from the function's domain, x, and" +" the corresponding values, y." +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:6 +msgid "The input tensor x should be sorted in ascending order." +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:8 +msgid "" +"An vector of samples from the function's domain. The values should be " +"sorted in ascending order. Shape is (num_samples,)" +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:10 +msgid "The function's values associated to the input x. Shape is (num_samples,)" +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:13 +msgid "If the input tensors are empty or have different sizes." +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.__init__:14 +msgid "If the input tensor x is not sorted in ascending order." +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.compute:3 +msgid "The query points. It can have any arbitrary shape." +msgstr "" + +#: of +#: omni.isaac.lab.utils.interpolation.linear_interpolation.LinearInterpolation.compute:5 +msgid "" +"The interpolated values at query points. It has the same shape as the " +"input tensor." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:83 +msgid "Math operations" +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`scale_transform `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Normalizes a given input tensor to a range of [-1, 1]." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`unscale_transform " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +#: omni.isaac.lab.utils.math.unscale_transform:1 +msgid "" +"De-normalizes a given input tensor from range of [-1, 1] to (lower, " +"upper)." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`saturate `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.saturate:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Clamps a given input tensor to (lower, upper)." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`normalize `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.normalize:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Normalizes a given input tensor to unit length." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`wrap_to_pi `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +#: omni.isaac.lab.utils.math.wrap_to_pi:1 +msgid "Wraps input angles (in radians) to the range [-pi, pi]." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`copysign `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.copysign:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +"Create a new floating-point tensor with the magnitude of input and the " +"sign of other, element-wise." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`matrix_from_quat `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.matrix_from_quat:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert rotations given as quaternions to rotation matrices." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`convert_quat `\\ " +"\\(quat\\[\\, to\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.math.convert_quat:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Converts quaternion from one convention to another." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_conjugate `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_conjugate:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Computes the conjugate of a quaternion." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_inv `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_inv:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Compute the inverse of a quaternion." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`quat_from_euler_xyz " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_from_euler_xyz:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert rotations given as Euler angles in radians to Quaternions." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_from_matrix `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_from_matrix:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert rotations given as rotation matrices to quaternions." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`matrix_from_euler " +"`\\ \\(euler\\_angles\\, " +"convention\\)" +msgstr "" + +#: of omni.isaac.lab.utils.math.matrix_from_euler:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert rotations given as Euler angles in radians to rotation matrices." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`euler_xyz_from_quat " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.euler_xyz_from_quat:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert rotations given as quaternions to Euler angles in radians." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_unique `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_unique:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +"Convert a unit quaternion to a standard form where the real part is non-" +"negative." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_mul `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_mul:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Multiply two quaternions together." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_box_minus `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_box_minus:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "The box-minus operator (quaternion difference) between two quaternions." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`yaw_quat `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +#: omni.isaac.lab.utils.math.yaw_quat:1 +msgid "Extract the yaw component of a quaternion." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_apply `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_apply:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Apply a quaternion rotation to a vector." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_apply_yaw `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_apply_yaw:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Rotate a vector only around the yaw-direction." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`quat_rotate `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_rotate:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Rotate a vector by a quaternion." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`quat_rotate_inverse " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_rotate_inverse:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Rotate a vector by the inverse of a quaternion." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`quat_from_angle_axis " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_from_angle_axis:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert rotations given as angle-axis to quaternions." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`axis_angle_from_quat " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.axis_angle_from_quat:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Convert rotations given as quaternions to axis/angle." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`quat_error_magnitude " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_error_magnitude:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Computes the rotation difference between two quaternions." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`skew_symmetric_matrix " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +#: omni.isaac.lab.utils.math.skew_symmetric_matrix:1 +msgid "Computes the skew-symmetric matrix of a vector." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`is_identity_pose `\\" +" \\(pos\\, rot\\)" +msgstr "" + +#: of omni.isaac.lab.utils.math.is_identity_pose:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Checks if input poses are identity transforms." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`combine_frame_transforms " +"`\\ \\(t01\\, " +"q01\\[\\, t12\\, q12\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.math.combine_frame_transforms:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +"Combine transformations between two reference frames into a stationary " +"frame." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`subtract_frame_transforms " +"`\\ \\(t01\\, " +"q01\\[\\, t02\\, q02\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +#: omni.isaac.lab.utils.math.subtract_frame_transforms:1 +msgid "" +"Subtract transformations between two reference frames into a stationary " +"frame." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`compute_pose_error " +"`\\ \\(t01\\, q01\\, t02\\," +" q02\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.math.compute_pose_error:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +"Compute the position and orientation error between source and target " +"frames." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`apply_delta_pose `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.apply_delta_pose:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Applies delta pose transformation on source pose." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`transform_points `\\" +" \\(points\\[\\, pos\\, quat\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +#: omni.isaac.lab.utils.math.transform_points:1 +msgid "Transform input points in a given frame to a target frame." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`unproject_depth `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +#: omni.isaac.lab.utils.math.unproject_depth:1 +msgid "Unproject depth image into a pointcloud." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid ":py:obj:`project_points `\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.project_points:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Projects 3D points into 2D image plane." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`default_orientation " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.default_orientation:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Returns identity rotation transform." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`random_orientation " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.random_orientation:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Returns sampled rotation in 3D as quaternion." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`random_yaw_orientation " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.math.random_yaw_orientation:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Returns sampled rotation around z-axis." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`sample_triangle `\\ " +"\\(lower\\, upper\\, size\\, device\\)" +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_triangle:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Randomly samples tensor from a triangular distribution." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`sample_uniform `\\ " +"\\(lower\\, upper\\, size\\, device\\)" +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_uniform:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Sample uniformly within a range." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`sample_log_uniform " +"`\\ \\(lower\\, upper\\, " +"size\\, device\\)" +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_log_uniform:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Sample using log-uniform distribution within a range." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`sample_gaussian `\\ " +"\\(mean\\, std\\, size\\, device\\)" +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_gaussian:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Sample using gaussian distribution." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "" +":py:obj:`sample_cylinder `\\ " +"\\(radius\\, h\\_range\\, size\\, device\\)" +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_cylinder:1 +#: omni.isaac.lab.utils.math.scale_transform:1::1 +msgid "Sample 3D points uniformly on a cylinder's surface." +msgstr "" + +#: of omni.isaac.lab.utils.math.saturate:3 +#: omni.isaac.lab.utils.math.scale_transform:4 +#: omni.isaac.lab.utils.math.unscale_transform:4 +msgid "It uses pytorch broadcasting functionality to deal with batched input." +msgstr "" + +#: of omni.isaac.lab.utils.math.normalize:3 +#: omni.isaac.lab.utils.math.saturate:5 +#: omni.isaac.lab.utils.math.scale_transform:6 +#: omni.isaac.lab.utils.math.unscale_transform:6 +msgid "Input tensor of shape (N, dims)." +msgstr "" + +#: of omni.isaac.lab.utils.math.saturate:6 +#: omni.isaac.lab.utils.math.scale_transform:7 +#: omni.isaac.lab.utils.math.unscale_transform:7 +msgid "The minimum value of the tensor. Shape is (N, dims) or (dims,)." +msgstr "" + +#: of omni.isaac.lab.utils.math.saturate:7 +#: omni.isaac.lab.utils.math.scale_transform:8 +#: omni.isaac.lab.utils.math.unscale_transform:8 +msgid "The maximum value of the tensor. Shape is (N, dims) or (dims,)." +msgstr "" + +#: of omni.isaac.lab.utils.math.scale_transform:10 +msgid "Normalized transform of the tensor. Shape is (N, dims)." +msgstr "" + +#: of omni.isaac.lab.utils.math.unscale_transform:10 +msgid "De-normalized transform of the tensor. Shape is (N, dims)." +msgstr "" + +#: of omni.isaac.lab.utils.math.saturate:9 +msgid "Clamped transform of the tensor. Shape is (N, dims)." +msgstr "" + +#: of omni.isaac.lab.utils.math.normalize:4 +msgid "A small value to avoid division by zero. Defaults to 1e-9." +msgstr "" + +#: of omni.isaac.lab.utils.math.normalize:6 +msgid "Normalized tensor of shape (N, dims)." +msgstr "" + +#: of omni.isaac.lab.utils.math.wrap_to_pi:3 +msgid "Input angles of any shape." +msgstr "" + +#: of omni.isaac.lab.utils.math.wrap_to_pi:5 +msgid "Angles in the range [-pi, pi]." +msgstr "" + +#: of omni.isaac.lab.utils.math.copysign:3 +msgid "" +"The implementation follows from `torch.copysign`. The function allows a " +"scalar magnitude." +msgstr "" + +#: of omni.isaac.lab.utils.math.copysign:5 +msgid "The magnitude scalar." +msgstr "" + +#: of omni.isaac.lab.utils.math.copysign:6 +msgid "The tensor containing values whose signbits are applied to magnitude." +msgstr "" + +#: of omni.isaac.lab.utils.math.copysign:8 +msgid "The output tensor." +msgstr "" + +#: of omni.isaac.lab.utils.math.axis_angle_from_quat:3 +#: omni.isaac.lab.utils.math.matrix_from_quat:3 +#: omni.isaac.lab.utils.math.quat_conjugate:3 +#: omni.isaac.lab.utils.math.quat_unique:6 +msgid "The quaternion orientation in (w, x, y, z). Shape is (..., 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.matrix_from_quat:5 +msgid "Rotation matrices. The shape is (..., 3, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.axis_angle_from_quat:9 +#: omni.isaac.lab.utils.math.euler_xyz_from_quat:9 +#: omni.isaac.lab.utils.math.matrix_from_euler:10 +#: omni.isaac.lab.utils.math.matrix_from_quat:7 +#: omni.isaac.lab.utils.math.quat_from_matrix:7 +#: omni.isaac.lab.utils.math.random_orientation:8 +msgid "Reference:" +msgstr "" + +#: of omni.isaac.lab.utils.math.matrix_from_quat:8 +msgid "https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L41-L70" +msgstr "" + +#: of omni.isaac.lab.utils.math.convert_quat:3 +msgid "" +"The convention to convert TO is specified as an optional argument. If to " +"== 'xyzw', then the input is in 'wxyz' format, and vice-versa." +msgstr "" + +#: of omni.isaac.lab.utils.math.convert_quat:6 +msgid "The quaternion of shape (..., 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.convert_quat:7 +msgid "Convention to convert quaternion to.. Defaults to \"xyzw\"." +msgstr "" + +#: of omni.isaac.lab.utils.math.convert_quat:9 +msgid "The converted quaternion in specified convention." +msgstr "" + +#: of omni.isaac.lab.utils.math.convert_quat:11 +msgid "Invalid input argument `to`, i.e. not \"xyzw\" or \"wxyz\"." +msgstr "" + +#: of omni.isaac.lab.utils.math.convert_quat:12 +msgid "Invalid shape of input `quat`, i.e. not (..., 4,)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_conjugate:5 +msgid "The conjugate quaternion in (w, x, y, z). Shape is (..., 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.euler_xyz_from_quat:5 +#: omni.isaac.lab.utils.math.quat_inv:3 +msgid "The quaternion orientation in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_inv:5 +msgid "The inverse quaternion in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.euler_xyz_from_quat:3 +#: omni.isaac.lab.utils.math.quat_from_euler_xyz:3 +msgid "The euler angles are assumed in XYZ convention." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_from_euler_xyz:5 +msgid "Rotation around x-axis (in radians). Shape is (N,)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_from_euler_xyz:6 +msgid "Rotation around y-axis (in radians). Shape is (N,)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_from_euler_xyz:7 +msgid "Rotation around z-axis (in radians). Shape is (N,)." +msgstr "" + +#: of omni.isaac.lab.utils.math.is_identity_pose:7 +#: omni.isaac.lab.utils.math.quat_from_angle_axis:6 +#: omni.isaac.lab.utils.math.quat_from_euler_xyz:9 +#: omni.isaac.lab.utils.math.quat_rotate:3 +#: omni.isaac.lab.utils.math.quat_rotate_inverse:3 +msgid "The quaternion in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_from_matrix:3 +msgid "The rotation matrices. Shape is (..., 3, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_apply:3 +#: omni.isaac.lab.utils.math.quat_from_matrix:5 +msgid "The quaternion in (w, x, y, z). Shape is (..., 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_from_matrix:8 +msgid "https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L102-L161" +msgstr "" + +#: of omni.isaac.lab.utils.math.matrix_from_euler:3 +msgid "Euler angles in radians. Shape is (..., 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.matrix_from_euler:4 +msgid "" +"Convention string of three uppercase letters from {\"X\", \"Y\", and " +"\"Z\"}. For example, \"XYZ\" means that the rotations should be applied " +"first about x, then y, then z." +msgstr "" + +#: of omni.isaac.lab.utils.math.matrix_from_euler:8 +msgid "Rotation matrices. Shape is (..., 3, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.matrix_from_euler:11 +msgid "https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L194-L220" +msgstr "" + +#: of omni.isaac.lab.utils.math.euler_xyz_from_quat:7 +msgid "A tuple containing roll-pitch-yaw. Each element is a tensor of shape (N,)." +msgstr "" + +#: of omni.isaac.lab.utils.math.euler_xyz_from_quat:10 +msgid "https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_unique:3 +msgid "" +"Quaternion representations have a singularity since ``q`` and ``-q`` " +"represent the same rotation. This function ensures the real part of the " +"quaternion is non-negative." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_unique:8 +msgid "Standardized quaternions. Shape is (..., 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_error_magnitude:3 +#: omni.isaac.lab.utils.math.quat_mul:3 +msgid "The first quaternion in (w, x, y, z). Shape is (..., 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_error_magnitude:4 +#: omni.isaac.lab.utils.math.quat_mul:4 +msgid "The second quaternion in (w, x, y, z). Shape is (..., 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_mul:6 +msgid "The product of the two quaternions in (w, x, y, z). Shape is (..., 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_mul:8 +msgid "Input shapes of ``q1`` and ``q2`` are not matching." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_box_minus:3 +msgid "The first quaternion in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_box_minus:4 +msgid "The second quaternion in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_box_minus:6 +msgid "The difference between the two quaternions. Shape is (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.yaw_quat:3 +msgid "The orientation in (w, x, y, z). Shape is (..., 4)" +msgstr "" + +#: of omni.isaac.lab.utils.math.yaw_quat:5 +msgid "A quaternion with only yaw component." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_apply:4 +msgid "The vector in (x, y, z). Shape is (..., 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_apply:6 +msgid "The rotated vector in (x, y, z). Shape is (..., 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_apply_yaw:3 +msgid "The orientation in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_apply_yaw:4 +#: omni.isaac.lab.utils.math.quat_rotate:4 +#: omni.isaac.lab.utils.math.quat_rotate_inverse:4 +msgid "The vector in (x, y, z). Shape is (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_apply_yaw:6 +#: omni.isaac.lab.utils.math.quat_rotate:6 +#: omni.isaac.lab.utils.math.quat_rotate_inverse:6 +msgid "The rotated vector in (x, y, z). Shape is (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_from_angle_axis:3 +msgid "" +"The angle turned anti-clockwise in radians around the vector's direction." +" Shape is (N,)." +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_from_angle_axis:4 +msgid "The axis of rotation. Shape is (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.axis_angle_from_quat:4 +msgid "The tolerance for Taylor approximation. Defaults to 1.0e-6." +msgstr "" + +#: of omni.isaac.lab.utils.math.axis_angle_from_quat:6 +msgid "" +"Rotations given as a vector in axis angle form. Shape is (..., 3). The " +"vector's magnitude is the angle turned anti-clockwise in radians around " +"the vector's direction." +msgstr "" + +#: of omni.isaac.lab.utils.math.axis_angle_from_quat:10 +msgid "https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/transforms/rotation_conversions.py#L526-L554" +msgstr "" + +#: of omni.isaac.lab.utils.math.quat_error_magnitude:6 +msgid "Angular error between input quaternions in radians." +msgstr "" + +#: of omni.isaac.lab.utils.math.skew_symmetric_matrix:3 +msgid "The input vector. Shape is (3,) or (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.skew_symmetric_matrix:5 +msgid "The skew-symmetric matrix. Shape is (1, 3, 3) or (N, 3, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.skew_symmetric_matrix:7 +msgid "If input tensor is not of shape (..., 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.is_identity_pose:3 +msgid "" +"The function checks if the input position and orientation are close to " +"zero and identity respectively using L2-norm. It does NOT check the error" +" in the orientation." +msgstr "" + +#: of omni.isaac.lab.utils.math.is_identity_pose:6 +msgid "The cartesian position. Shape is (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.is_identity_pose:9 +msgid "" +"True if all the input poses result in identity transform. Otherwise, " +"False." +msgstr "" + +#: of omni.isaac.lab.utils.math.combine_frame_transforms:3 +msgid "" +"It performs the following transformation operation: :math:`T_{02} = " +"T_{01} \\times T_{12}`, where :math:`T_{AB}` is the homogeneous " +"transformation matrix from frame A to B." +msgstr "" + +#: of omni.isaac.lab.utils.math.combine_frame_transforms:6 +#: omni.isaac.lab.utils.math.subtract_frame_transforms:6 +msgid "Position of frame 1 w.r.t. frame 0. Shape is (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.combine_frame_transforms:7 +#: omni.isaac.lab.utils.math.subtract_frame_transforms:7 +msgid "" +"Quaternion orientation of frame 1 w.r.t. frame 0 in (w, x, y, z). Shape " +"is (N, 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.combine_frame_transforms:8 +msgid "" +"Position of frame 2 w.r.t. frame 1. Shape is (N, 3). Defaults to None, in" +" which case the position is assumed to be zero." +msgstr "" + +#: of omni.isaac.lab.utils.math.combine_frame_transforms:10 +msgid "" +"Quaternion orientation of frame 2 w.r.t. frame 1 in (w, x, y, z). Shape " +"is (N, 4). Defaults to None, in which case the orientation is assumed to " +"be identity." +msgstr "" + +#: of omni.isaac.lab.utils.math.combine_frame_transforms:13 +msgid "" +"A tuple containing the position and orientation of frame 2 w.r.t. frame " +"0. Shape of the tensors are (N, 3) and (N, 4) respectively." +msgstr "" + +#: of omni.isaac.lab.utils.math.subtract_frame_transforms:3 +msgid "" +"It performs the following transformation operation: :math:`T_{12} = " +"T_{01}^{-1} \\times T_{02}`, where :math:`T_{AB}` is the homogeneous " +"transformation matrix from frame A to B." +msgstr "" + +#: of omni.isaac.lab.utils.math.subtract_frame_transforms:8 +msgid "" +"Position of frame 2 w.r.t. frame 0. Shape is (N, 3). Defaults to None, in" +" which case the position is assumed to be zero." +msgstr "" + +#: of omni.isaac.lab.utils.math.subtract_frame_transforms:10 +msgid "" +"Quaternion orientation of frame 2 w.r.t. frame 0 in (w, x, y, z). Shape " +"is (N, 4). Defaults to None, in which case the orientation is assumed to " +"be identity." +msgstr "" + +#: of omni.isaac.lab.utils.math.subtract_frame_transforms:13 +msgid "" +"A tuple containing the position and orientation of frame 2 w.r.t. frame " +"1. Shape of the tensors are (N, 3) and (N, 4) respectively." +msgstr "" + +#: of omni.isaac.lab.utils.math.apply_delta_pose:7 +#: omni.isaac.lab.utils.math.compute_pose_error:3 +msgid "Position of source frame. Shape is (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.compute_pose_error:4 +msgid "Quaternion orientation of source frame in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.compute_pose_error:5 +msgid "Position of target frame. Shape is (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.compute_pose_error:6 +msgid "Quaternion orientation of target frame in (w, x, y, z). Shape is (N, 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.compute_pose_error:7 +msgid "" +"The rotation error type to return: \"quat\", \"axis_angle\". Defaults to " +"\"axis_angle\"." +msgstr "" + +#: of omni.isaac.lab.utils.math.compute_pose_error:10 +msgid "" +"A tuple containing position and orientation error. Shape of position " +"error is (N, 3). Shape of orientation error depends on the value of " +":attr:`rot_error_type`: - If :attr:`rot_error_type` is \"quat\", the " +"orientation error is returned as a quaternion. Shape is (N, 4). - If " +":attr:`rot_error_type` is \"axis_angle\", the orientation error is " +"returned as an axis-angle vector. Shape is (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.compute_pose_error:10 +msgid "" +"A tuple containing position and orientation error. Shape of position " +"error is (N, 3). Shape of orientation error depends on the value of " +":attr:`rot_error_type`:" +msgstr "" + +#: of omni.isaac.lab.utils.math.compute_pose_error:13 +msgid "" +"If :attr:`rot_error_type` is \"quat\", the orientation error is returned " +"as a quaternion. Shape is (N, 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.compute_pose_error:15 +msgid "" +"If :attr:`rot_error_type` is \"axis_angle\", the orientation error is " +"returned as an axis-angle vector. Shape is (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.compute_pose_error:18 +msgid "Invalid rotation error type." +msgstr "" + +#: of omni.isaac.lab.utils.math.apply_delta_pose:3 +msgid "" +"The first three elements of `delta_pose` are interpreted as cartesian " +"position displacement. The remaining three elements of `delta_pose` are " +"interpreted as orientation displacement in the angle-axis format." +msgstr "" + +#: of omni.isaac.lab.utils.math.apply_delta_pose:8 +msgid "Quaternion orientation of source frame in (w, x, y, z). Shape is (N, 4).." +msgstr "" + +#: of omni.isaac.lab.utils.math.apply_delta_pose:9 +msgid "Position and orientation displacements. Shape is (N, 6)." +msgstr "" + +#: of omni.isaac.lab.utils.math.apply_delta_pose:10 +msgid "" +"The tolerance to consider orientation displacement as zero. Defaults to " +"1.0e-6." +msgstr "" + +#: of omni.isaac.lab.utils.math.apply_delta_pose:12 +msgid "" +"A tuple containing the displaced position and orientation frames. Shape " +"of the tensors are (N, 3) and (N, 4) respectively." +msgstr "" + +#: of omni.isaac.lab.utils.math.transform_points:3 +msgid "" +"This function transform points from a source frame to a target frame. The" +" transformation is defined by the position :math:`t` and orientation " +":math:`R` of the target frame in the source frame." +msgstr "" + +#: of omni.isaac.lab.utils.math.transform_points:6 +msgid "" +"p_{target} = R_{target} \\times p_{source} + t_{target}\n" +"\n" +msgstr "" + +#: of omni.isaac.lab.utils.math.transform_points:9 +msgid "" +"If the input `points` is a batch of points, the inputs `pos` and `quat` " +"must be either a batch of positions and quaternions or a single position " +"and quaternion. If the inputs `pos` and `quat` are a single position and " +"quaternion, the same transformation is applied to all points in the " +"batch." +msgstr "" + +#: of omni.isaac.lab.utils.math.transform_points:13 +msgid "" +"If either the inputs :attr:`pos` and :attr:`quat` are None, the " +"corresponding transformation is not applied." +msgstr "" + +#: of omni.isaac.lab.utils.math.transform_points:15 +msgid "Points to transform. Shape is (N, P, 3) or (P, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.transform_points:16 +msgid "" +"Position of the target frame. Shape is (N, 3) or (3,). Defaults to None, " +"in which case the position is assumed to be zero." +msgstr "" + +#: of omni.isaac.lab.utils.math.transform_points:18 +msgid "" +"Quaternion orientation of the target frame in (w, x, y, z). Shape is (N, " +"4) or (4,). Defaults to None, in which case the orientation is assumed to" +" be identity." +msgstr "" + +#: of omni.isaac.lab.utils.math.transform_points:21 +msgid "Transformed points in the target frame. Shape is (N, P, 3) or (P, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.transform_points:23 +msgid "If the inputs `points` is not of shape (N, P, 3) or (P, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.transform_points:24 +msgid "If the inputs `pos` is not of shape (N, 3) or (3,)." +msgstr "" + +#: of omni.isaac.lab.utils.math.transform_points:25 +msgid "If the inputs `quat` is not of shape (N, 4) or (4,)." +msgstr "" + +#: of omni.isaac.lab.utils.math.unproject_depth:3 +msgid "" +"This function converts depth images into points given the calibration " +"matrix of the camera." +msgstr "" + +#: of omni.isaac.lab.utils.math.unproject_depth:5 +msgid "" +"p_{3D} = K^{-1} \\times [u, v, 1]^T \\times d\n" +"\n" +msgstr "" + +#: of omni.isaac.lab.utils.math.unproject_depth:8 +msgid "" +"where :math:`p_{3D}` is the 3D point, :math:`d` is the depth value, " +":math:`u` and :math:`v` are the pixel coordinates and :math:`K` is the " +"intrinsic matrix." +msgstr "" + +#: of omni.isaac.lab.utils.math.unproject_depth:11 +msgid "" +"If `depth` is a batch of depth images and `intrinsics` is a single " +"intrinsic matrix, the same calibration matrix is applied to all depth " +"images in the batch." +msgstr "" + +#: of omni.isaac.lab.utils.math.unproject_depth:14 +msgid "" +"The function assumes that the width and height are both greater than 1. " +"This makes the function deal with many possible shapes of depth images " +"and intrinsics matrices." +msgstr "" + +#: of omni.isaac.lab.utils.math.unproject_depth:17 +msgid "" +"The depth measurement. Shape is (H, W) or or (H, W, 1) or (N, H, W) or " +"(N, H, W, 1)." +msgstr "" + +#: of omni.isaac.lab.utils.math.unproject_depth:18 +msgid "" +"A tensor providing camera's calibration matrix. Shape is (3, 3) or (N, 3," +" 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.project_points:20 +#: omni.isaac.lab.utils.math.unproject_depth:20 +msgid "The 3D coordinates of points. Shape is (P, 3) or (N, P, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.unproject_depth:22 +msgid "" +"When depth is not of shape (H, W) or (H, W, 1) or (N, H, W) or (N, H, W, " +"1)." +msgstr "" + +#: of omni.isaac.lab.utils.math.unproject_depth:23 +msgid "When intrinsics is not of shape (3, 3) or (N, 3, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.project_points:3 +msgid "" +"This project 3D points into a 2D image plane. The transformation is " +"defined by the intrinsic matrix of the camera." +msgstr "" + +#: of omni.isaac.lab.utils.math.project_points:6 +msgid "" +"\\begin{align}\n" +" p &= K \\times p_{3D} = \\\\\n" +" p_{2D} &= \\begin{pmatrix} u \\\\ v \\\\ d \\end{pmatrix}\n" +" = \\begin{pmatrix} p[0] / p[2] \\\\ p[1] / p[2] \\\\ Z " +"\\end{pmatrix}\n" +"\\end{align}" +msgstr "" + +#: of omni.isaac.lab.utils.math.project_points:14 +msgid "" +"where :math:`p_{2D} = (u, v, d)` is the projected 3D point, :math:`p_{3D}" +" = (X, Y, Z)` is the 3D point and :math:`K \\in \\mathbb{R}^{3 \\times " +"3}` is the intrinsic matrix." +msgstr "" + +#: of omni.isaac.lab.utils.math.project_points:17 +msgid "" +"If `points` is a batch of 3D points and `intrinsics` is a single " +"intrinsic matrix, the same calibration matrix is applied to all points in" +" the batch." +msgstr "" + +#: of omni.isaac.lab.utils.math.project_points:21 +msgid "Camera's calibration matrix. Shape is (3, 3) or (N, 3, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.project_points:23 +msgid "Projected 3D coordinates of points. Shape is (P, 3) or (N, P, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.math.default_orientation:3 +#: omni.isaac.lab.utils.math.random_orientation:3 +#: omni.isaac.lab.utils.math.random_yaw_orientation:3 +msgid "The number of rotations to sample." +msgstr "" + +#: of omni.isaac.lab.utils.math.default_orientation:4 +#: omni.isaac.lab.utils.math.random_orientation:4 +#: omni.isaac.lab.utils.math.random_yaw_orientation:4 +#: omni.isaac.lab.utils.math.sample_cylinder:12 +#: omni.isaac.lab.utils.math.sample_gaussian:6 +#: omni.isaac.lab.utils.math.sample_log_uniform:14 +#: omni.isaac.lab.utils.math.sample_triangle:6 +#: omni.isaac.lab.utils.math.sample_uniform:6 +msgid "Device to create tensor on." +msgstr "" + +#: of omni.isaac.lab.utils.math.default_orientation:6 +msgid "Identity quaternion in (w, x, y, z). Shape is (num, 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.random_orientation:6 +#: omni.isaac.lab.utils.math.random_yaw_orientation:6 +msgid "Sampled quaternion in (w, x, y, z). Shape is (num, 4)." +msgstr "" + +#: of omni.isaac.lab.utils.math.random_orientation:9 +msgid "https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.random.html" +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_triangle:3 +msgid "The lower range of the sampled tensor." +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_triangle:4 +msgid "The upper range of the sampled tensor." +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_cylinder:11 +#: omni.isaac.lab.utils.math.sample_gaussian:5 +#: omni.isaac.lab.utils.math.sample_log_uniform:13 +#: omni.isaac.lab.utils.math.sample_triangle:5 +#: omni.isaac.lab.utils.math.sample_uniform:5 +msgid "The shape of the tensor." +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_log_uniform:16 +#: omni.isaac.lab.utils.math.sample_triangle:8 +#: omni.isaac.lab.utils.math.sample_uniform:8 +msgid "Sampled tensor. Shape is based on :attr:`size`." +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_log_uniform:11 +#: omni.isaac.lab.utils.math.sample_uniform:3 +msgid "Lower bound of uniform range." +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_log_uniform:12 +#: omni.isaac.lab.utils.math.sample_uniform:4 +msgid "Upper bound of uniform range." +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_log_uniform:3 +msgid "" +"The log-uniform distribution is defined as a uniform distribution in the " +"log-space. It is useful for sampling values that span several orders of " +"magnitude. The sampled values are uniformly distributed in the log-space " +"and then exponentiated to get the final values." +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_log_uniform:7 +msgid "x = \\exp(\\text{uniform}(\\log(\\text{lower}), \\log(\\text{upper})))" +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_gaussian:3 +msgid "Mean of the gaussian." +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_gaussian:4 +msgid "Std of the gaussian." +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_gaussian:8 +msgid "Sampled tensor." +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_cylinder:3 +msgid "" +"The cylinder is centered at the origin and aligned with the z-axis. The " +"height of the cylinder is sampled uniformly from the range " +":obj:`h_range`, while the radius is fixed to :obj:`radius`." +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_cylinder:6 +msgid "" +"The sampled points are returned as a tensor of shape :obj:`(*size, 3)`, " +"i.e. the last dimension contains the x, y, and z coordinates of the " +"sampled points." +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_cylinder:9 +msgid "The radius of the cylinder." +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_cylinder:10 +msgid "The minimum and maximum height of the cylinder." +msgstr "" + +#: of omni.isaac.lab.utils.math.sample_cylinder:14 +msgid "Sampled tensor. Shape is :obj:`(*size, 3)`." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:91 +msgid "Noise operations" +msgstr "" + +#: of omni.isaac.lab.utils.noise:3 +msgid "" +"The noise models are implemented as functions that take in a tensor and a" +" configuration and return a tensor with the noise applied. These " +"functions are then used in the :class:`NoiseCfg` configuration class." +msgstr "" + +#: of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`NoiseCfg `\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1 +#: omni.isaac.lab.utils.noise:1::1 +msgid "Base configuration for a noise term." +msgstr "" + +#: of omni.isaac.lab.utils.noise:1::1 +msgid "" +":py:obj:`AdditiveGaussianNoiseCfg " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise:1::1 +msgid "" +"alias of " +":py:class:`~omni.isaac.lab.utils.noise.noise_cfg.GaussianNoiseCfg`" +msgstr "" + +#: of omni.isaac.lab.utils.noise:1::1 +msgid "" +":py:obj:`AdditiveUniformNoiseCfg " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise:1::1 +msgid "alias of :py:class:`~omni.isaac.lab.utils.noise.noise_cfg.UniformNoiseCfg`" +msgstr "" + +#: of omni.isaac.lab.utils.noise:1::1 +msgid "" +":py:obj:`ConstantBiasNoiseCfg " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise:1::1 +msgid "" +"alias of " +":py:class:`~omni.isaac.lab.utils.noise.noise_cfg.ConstantNoiseCfg`" +msgstr "" + +#: of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`ConstantNoiseCfg `\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.ConstantNoiseCfg:1 +#: omni.isaac.lab.utils.noise:1::1 +msgid "Configuration for an additive constant noise term." +msgstr "" + +#: of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`GaussianNoiseCfg `\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.GaussianNoiseCfg:1 +#: omni.isaac.lab.utils.noise:1::1 +msgid "Configuration for an additive gaussian noise term." +msgstr "" + +#: of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`NoiseModelCfg `\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg:1 +#: omni.isaac.lab.utils.noise:1::1 +msgid "Configuration for a noise model." +msgstr "" + +#: of omni.isaac.lab.utils.noise:1::1 +msgid "" +":py:obj:`NoiseModelWithAdditiveBiasCfg " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.NoiseModelWithAdditiveBiasCfg:1 +#: omni.isaac.lab.utils.noise:1::1 +msgid "Configuration for an additive gaussian noise with bias model." +msgstr "" + +#: of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`UniformNoiseCfg `\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.UniformNoiseCfg:1 +#: omni.isaac.lab.utils.noise:1::1 +msgid "Configuration for a additive uniform noise term." +msgstr "" + +#: of omni.isaac.lab.utils.noise:1::1 +msgid ":py:obj:`NoiseModel `\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModel:1 +#: omni.isaac.lab.utils.noise:1::1 +msgid "Base class for noise models." +msgstr "" + +#: of omni.isaac.lab.utils.noise:1::1 +msgid "" +":py:obj:`NoiseModelWithAdditiveBias " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:1 +#: omni.isaac.lab.utils.noise:1::1 +msgid "Noise model with an additive bias." +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1::1 +msgid "" +":py:obj:`constant_noise `\\ " +"\\(data\\, cfg\\)" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1::1 +#: omni.isaac.lab.utils.noise.noise_model.constant_noise:1 +msgid "Constant noise." +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1::1 +msgid "" +":py:obj:`gaussian_noise `\\ " +"\\(data\\, cfg\\)" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1::1 +#: omni.isaac.lab.utils.noise.noise_model.gaussian_noise:1 +msgid "Gaussian noise." +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1::1 +msgid "" +":py:obj:`uniform_noise `\\ " +"\\(data\\, cfg\\)" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg:1::1 +#: omni.isaac.lab.utils.noise.noise_model.uniform_noise:1 +msgid "Uniform noise." +msgstr "" + +#: of omni.isaac.lab.utils.noise.NoiseCfg.operation:1::1 +msgid ":py:obj:`operation `\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.NoiseCfg.operation:1::1 +msgid "The operation to apply the noise on the data." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.noise.ConstantNoiseCfg.operation:1 +#: omni.isaac.lab.utils.noise.GaussianNoiseCfg.operation:1 +#: omni.isaac.lab.utils.noise.NoiseCfg.operation:1 +#: omni.isaac.lab.utils.noise.UniformNoiseCfg.operation:1 +msgid "The operation to apply the noise on the data. Defaults to \"add\"." +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.ConstantNoiseCfg:1 +#: omni.isaac.lab.utils.noise.noise_cfg.GaussianNoiseCfg:1 +#: omni.isaac.lab.utils.noise.noise_cfg.UniformNoiseCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.utils.noise.noise_cfg.NoiseCfg`" +msgstr "" + +#: of omni.isaac.lab.utils.noise.ConstantNoiseCfg.bias:1::1 +msgid ":py:obj:`bias `\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.ConstantNoiseCfg.bias:1::1 +msgid "The bias to add." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.noise.ConstantNoiseCfg.bias:1 +msgid "The bias to add. Defaults to 0.0." +msgstr "" + +#: of omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean:1::1 +msgid ":py:obj:`mean `\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean:1::1 +msgid "The mean of the noise." +msgstr "" + +#: of omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean:1::1 +msgid ":py:obj:`std `\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean:1::1 +msgid "The standard deviation of the noise." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.noise.GaussianNoiseCfg.mean:1 +msgid "The mean of the noise. Defaults to 0.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.noise.GaussianNoiseCfg.std:1 +msgid "The standard deviation of the noise. Defaults to 1.0." +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg:1::1 +msgid "" +":py:obj:`class_type " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg:1::1 +msgid "alias of :py:class:`~omni.isaac.lab.utils.noise.noise_model.NoiseModel`" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModel:1::1 +msgid ":py:obj:`noise_cfg `\\" +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.noise.NoiseModelCfg.noise_cfg:1 +#: omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.noise_cfg:1 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModel:1::1 +msgid "The noise configuration to use." +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModel:1::1 +msgid "" +":py:obj:`apply " +"`\\ \\(data\\)" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModel.apply:1 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModel.apply:1::1 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModel:1::1 +msgid "Apply the noise to the data." +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModel:1::1 +msgid "" +":py:obj:`reset " +"`\\ " +"\\(env\\_ids\\)" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModel.apply:1::1 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModel.reset:1 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModel:1::1 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.apply:1::1 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.reset:1 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:1::1 +msgid "Reset the noise model." +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_cfg.NoiseModelWithAdditiveBiasCfg:1 +msgid "Bases: :py:class:`~omni.isaac.lab.utils.noise.noise_cfg.NoiseModelCfg`" +msgstr "" + +#: of +#: omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.noise_cfg:1::1 +msgid "" +":py:obj:`class_type " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab.utils.noise.NoiseModelWithAdditiveBiasCfg.noise_cfg:1::1 +msgid "" +"alias of " +":py:class:`~omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias`" +msgstr "" + +#: of +#: omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:1::1 +msgid "" +":py:obj:`apply " +"`\\" +" \\(data\\)" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.apply:1 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.apply:1::1 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:1::1 +msgid "Apply the noise + bias." +msgstr "" + +#: of +#: omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:1::1 +msgid "" +":py:obj:`reset " +"`\\" +" \\(env\\_ids\\)" +msgstr "" + +#: of omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min:1::1 +msgid ":py:obj:`n_min `\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min:1::1 +msgid "The minimum value of the noise." +msgstr "" + +#: of omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min:1::1 +msgid ":py:obj:`n_max `\\" +msgstr "" + +#: of omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min:1::1 +msgid "The maximum value of the noise." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.noise.UniformNoiseCfg.n_min:1 +msgid "The minimum value of the noise. Defaults to -1.0." +msgstr "" + +#: ../../docstring of omni.isaac.lab.utils.noise.UniformNoiseCfg.n_max:1 +msgid "The maximum value of the noise. Defaults to 1.0." +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModel.apply:1::1 +msgid ":py:obj:`apply `\\ \\(data\\)" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModel.apply:1::1 +msgid "" +":py:obj:`reset `\\ " +"\\(env\\_ids\\)" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModel.apply:3 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.apply:3 +msgid "" +"The data to apply the noise to, which is a tensor of shape (num_envs, " +"\\*data_shape)." +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModel.reset:3 +msgid "" +"This method can be implemented by derived classes to reset the noise " +"model. This is useful when implementing temporal noise models such as " +"random walk." +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModel.reset:6 +#: omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.reset:5 +msgid "The environment ids to reset the noise model for." +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:1 +msgid "Bases: :py:class:`~omni.isaac.lab.utils.noise.noise_model.NoiseModel`" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias:3 +msgid "The bias term is sampled from a the specified distribution on reset." +msgstr "" + +#: of +#: omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.apply:1::1 +msgid "" +":py:obj:`apply " +"`\\ " +"\\(data\\)" +msgstr "" + +#: of +#: omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.apply:1::1 +msgid "" +":py:obj:`reset " +"`\\ " +"\\(env\\_ids\\)" +msgstr "" + +#: of omni.isaac.lab.utils.noise.noise_model.NoiseModelWithAdditiveBias.reset:3 +msgid "This method resets the bias term for the specified environments." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:101 +msgid "String operations" +msgstr "" + +#: of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "" +":py:obj:`to_camel_case `\\ " +"\\(snake\\_str\\[\\, to\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.string.to_camel_case:1 +#: omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "Converts a string from snake case to camel case." +msgstr "" + +#: of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "" +":py:obj:`to_snake_case `\\ " +"\\(camel\\_str\\)" +msgstr "" + +#: of omni.isaac.lab.utils.string.to_camel_case:1::1 +#: omni.isaac.lab.utils.string.to_snake_case:1 +msgid "Converts a string from camel case to snake case." +msgstr "" + +#: of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "" +":py:obj:`is_lambda_expression " +"`\\ \\(name\\)" +msgstr "" + +#: of omni.isaac.lab.utils.string.is_lambda_expression:1 +#: omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "Checks if the input string is a lambda expression." +msgstr "" + +#: of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "" +":py:obj:`callable_to_string " +"`\\ \\(value\\)" +msgstr "" + +#: of omni.isaac.lab.utils.string.callable_to_string:1 +#: omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "Converts a callable object to a string." +msgstr "" + +#: of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "" +":py:obj:`string_to_callable " +"`\\ \\(name\\)" +msgstr "" + +#: of omni.isaac.lab.utils.string.string_to_callable:1 +#: omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "Resolves the module and function names to return the function." +msgstr "" + +#: of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "" +":py:obj:`resolve_matching_names " +"`\\ \\(keys\\, " +"list\\_of\\_strings\\)" +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names:1 +#: omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "" +"Match a list of query regular expressions against a list of strings and " +"return the matched indices and names." +msgstr "" + +#: of omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "" +":py:obj:`resolve_matching_names_values " +"`\\ \\(data\\," +" ...\\[\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names_values:1 +#: omni.isaac.lab.utils.string.to_camel_case:1::1 +msgid "" +"Match a list of regular expressions in a dictionary against a list of " +"strings and return the matched indices, names, and values." +msgstr "" + +#: of omni.isaac.lab.utils.string.to_camel_case:3 +#: omni.isaac.lab.utils.string.to_snake_case:5 +msgid "A string in snake case (i.e. with '_')" +msgstr "" + +#: of omni.isaac.lab.utils.string.to_camel_case:4 +msgid "Convention to convert string to. Defaults to \"cC\"." +msgstr "" + +#: of omni.isaac.lab.utils.string.to_camel_case:6 +msgid "Invalid input argument `to`, i.e. not \"cC\" or \"CC\"." +msgstr "" + +#: of omni.isaac.lab.utils.string.to_camel_case:8 +msgid "A string in camel-case format." +msgstr "" + +#: of omni.isaac.lab.utils.string.to_snake_case:3 +msgid "A string in camel case." +msgstr "" + +#: of omni.isaac.lab.utils.string.is_lambda_expression:3 +msgid "The input string." +msgstr "" + +#: of omni.isaac.lab.utils.string.is_lambda_expression:5 +msgid "Whether the input string is a lambda expression." +msgstr "" + +#: of omni.isaac.lab.utils.string.callable_to_string:3 +msgid "A callable object." +msgstr "" + +#: of omni.isaac.lab.utils.string.callable_to_string:5 +msgid "When the input argument is not a callable object." +msgstr "" + +#: of omni.isaac.lab.utils.string.callable_to_string:7 +msgid "A string representation of the callable object." +msgstr "" + +#: of omni.isaac.lab.utils.string.string_to_callable:3 +msgid "" +"The function name. The format should be 'module:attribute_name' or a " +"lambda expression of format: 'lambda x: x'." +msgstr "" + +#: of omni.isaac.lab.utils.string.string_to_callable:6 +msgid "When the resolved attribute is not a function." +msgstr "" + +#: of omni.isaac.lab.utils.string.string_to_callable:7 +msgid "When the module cannot be found." +msgstr "" + +#: of omni.isaac.lab.utils.string.string_to_callable:9 +msgid "The function loaded from the module." +msgstr "" + +#: of omni.isaac.lab.utils.string.string_to_callable +msgid "Return type" +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names:3 +msgid "" +"When a list of query regular expressions is provided, the function checks" +" each target string against each query regular expression and returns the" +" indices of the matched strings and the matched strings." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names:6 +#: omni.isaac.lab.utils.string.resolve_matching_names_values:4 +msgid "" +"If the :attr:`preserve_order` is True, the ordering of the matched " +"indices and names is the same as the order of the provided list of " +"strings. This means that the ordering is dictated by the order of the " +"target strings and not the order of the query regular expressions." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names:10 +#: omni.isaac.lab.utils.string.resolve_matching_names_values:8 +msgid "" +"If the :attr:`preserve_order` is False, the ordering of the matched " +"indices and names is the same as the order of the provided list of query " +"regular expressions." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names:13 +msgid "" +"For example, consider the list of strings is ['a', 'b', 'c', 'd', 'e'] " +"and the regular expressions are ['a|c', 'b']. If :attr:`preserve_order` " +"is False, then the function will return the indices of the matched " +"strings and the strings as: ([0, 1, 2], ['a', 'b', 'c']). When " +":attr:`preserve_order` is True, it will return them as: ([0, 2, 1], ['a'," +" 'c', 'b'])." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names:18 +msgid "" +"The function does not sort the indices. It returns the indices in the " +"order they are found." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names:20 +msgid "" +"A regular expression or a list of regular expressions to match the " +"strings in the list." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names:21 +#: omni.isaac.lab.utils.string.resolve_matching_names_values:17 +msgid "A list of strings to match." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names:22 +#: omni.isaac.lab.utils.string.resolve_matching_names_values:18 +msgid "" +"Whether to preserve the order of the query keys in the returned values. " +"Defaults to False." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names:24 +msgid "A tuple of lists containing the matched indices and names." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names:26 +msgid "When multiple matches are found for a string in the list." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names:27 +msgid "When not all regular expressions are matched." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names_values:11 +msgid "" +"For example, consider the dictionary is {\"a|d|e\": 1, \"b|c\": 2}, the " +"list of strings is ['a', 'b', 'c', 'd', 'e']. If :attr:`preserve_order` " +"is False, then the function will return the indices of the matched " +"strings, the matched strings, and the values as: ([0, 1, 2, 3, 4], ['a', " +"'b', 'c', 'd', 'e'], [1, 2, 2, 1, 1]). When :attr:`preserve_order` is " +"True, it will return them as: ([0, 3, 4, 1, 2], ['a', 'd', 'e', 'b', " +"'c'], [1, 1, 1, 2, 2])." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names_values:16 +msgid "" +"A dictionary of regular expressions and values to match the strings in " +"the list." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names_values:20 +msgid "A tuple of lists containing the matched indices, names, and values." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names_values:22 +msgid "When the input argument :attr:`data` is not a dictionary." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names_values:23 +msgid "When multiple matches are found for a string in the dictionary." +msgstr "" + +#: of omni.isaac.lab.utils.string.resolve_matching_names_values:24 +msgid "When not all regular expressions in the data keys are matched." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:108 +msgid "Timer operations" +msgstr "" + +#: of omni.isaac.lab.utils.timer:1 +msgid "**Exceptions:**" +msgstr "" + +#: of omni.isaac.lab.utils.timer:1::1 +msgid ":py:obj:`TimerError `\\" +msgstr "" + +#: of omni.isaac.lab.utils.timer.TimerError:1 +#: omni.isaac.lab.utils.timer:1::1 +msgid "A custom exception used to report errors in use of :class:`Timer` class." +msgstr "" + +#: of omni.isaac.lab.utils.timer.TimerError:1::1 +msgid ":py:obj:`Timer `\\" +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer:1 +#: omni.isaac.lab.utils.timer.TimerError:1::1 +msgid "A timer for performance measurements." +msgstr "" + +#: of omni.isaac.lab.utils.timer.TimerError:1 +msgid "Bases: :py:class:`Exception`" +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer:1 +msgid "Bases: :py:class:`~contextlib.ContextDecorator`" +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer:3 +msgid "" +"A class to keep track of time for performance measurement. It allows " +"timing via context managers and decorators as well." +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer:6 +msgid "" +"It uses the `time.perf_counter` function to measure time. This function " +"returns the number of seconds since the epoch as a float. It has the " +"highest resolution available on the system." +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer:10 +msgid "As a regular object:" +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer:27 +msgid "As a context manager:" +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer:39 +msgid "Reference: https://gist.github.com/sumeet/1123871" +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer:1::1 +msgid "" +":py:obj:`__init__ `\\ " +"\\(\\[msg\\]\\)" +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer.__init__:1 +#: omni.isaac.lab.utils.timer.Timer:1::1 +msgid "Initializes the timer." +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer:1::1 +msgid ":py:obj:`start `\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer.start:1 +#: omni.isaac.lab.utils.timer.Timer:1::1 +msgid "Start timing." +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer:1::1 +msgid ":py:obj:`stop `\\ \\(\\)" +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer.stop:1 +#: omni.isaac.lab.utils.timer.Timer:1::1 +msgid "Stop timing." +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer.__init__:1::1 +msgid ":py:obj:`time_elapsed `\\" +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer.__init__:1::1 +#: omni.isaac.lab.utils.timer.Timer.time_elapsed:1 +msgid "The number of seconds that have elapsed since this timer started timing." +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer.__init__:1::1 +msgid "" +":py:obj:`total_run_time " +"`\\" +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer.__init__:1::1 +#: omni.isaac.lab.utils.timer.Timer.total_run_time:1 +msgid "" +"The number of seconds that elapsed from when the timer started to when it" +" ended." +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer.__init__:3 +msgid "" +"The message to display when using the timer class in a context manager. " +"Defaults to None." +msgstr "" + +#: of omni.isaac.lab.utils.timer.Timer.time_elapsed:3 +msgid "" +"This is used for checking how much time has elapsed while the timer is " +"still running." +msgstr "" + +#: ../../source/api/lab/omni.isaac.lab.utils.rst:115 +msgid "Warp operations" +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:1::1 +msgid "" +":py:obj:`convert_to_warp_mesh " +"`\\ \\(points\\, " +"indices\\, device\\)" +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:1 +#: omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:1::1 +msgid "Create a warp mesh object with a mesh defined from vertices and triangles." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:1::1 +msgid "" +":py:obj:`raycast_mesh `\\ " +"\\(ray\\_starts\\, ray\\_directions\\, mesh\\)" +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:1::1 +#: omni.isaac.lab.utils.warp.ops.raycast_mesh:1 +msgid "Performs ray-casting against a mesh." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:3 +msgid "" +"The vertices of the mesh. Shape is (N, 3), where N is the number of " +"vertices." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:4 +msgid "" +"The triangles of the mesh as references to vertices for each triangle. " +"Shape is (M, 3), where M is the number of triangles / faces." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:6 +msgid "The device to use for the mesh." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.convert_to_warp_mesh:8 +msgid "The warp mesh object." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:3 +msgid "" +"Note that the `ray_starts` and `ray_directions`, and `ray_hits` should " +"have compatible shapes and data types to ensure proper execution. " +"Additionally, they all must be in the same frame." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:6 +msgid "The starting position of the rays. Shape (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:7 +msgid "The ray directions for each ray. Shape (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:8 +msgid "The warp mesh to ray-cast against." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:9 +msgid "The maximum distance to ray-cast. Defaults to 1e6." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:10 +msgid "" +"Whether to return the distance of the ray until it hits the mesh. " +"Defaults to False." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:11 +msgid "" +"Whether to return the normal of the mesh face the ray hits. Defaults to " +"False." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:12 +msgid "" +"Whether to return the face id of the mesh face the ray hits. Defaults to " +"False." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:14 +msgid "" +"The ray hit position. Shape (N, 3). The returned tensor contains " +":obj:`float('inf')` for missed hits. The ray hit distance. Shape (N,)." +" Will only return if :attr:`return_distance` is True, else returns " +"None. The returned tensor contains :obj:`float('inf')` for missed " +"hits. The ray hit normal. Shape (N, 3). Will only return if " +":attr:`return_normal` is True else returns None. The returned tensor " +"contains :obj:`float('inf')` for missed hits. The ray hit face id. Shape " +"(N,). Will only return if :attr:`return_face_id` is True else returns" +" None. The returned tensor contains :obj:`int(-1)` for missed hits." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:16 +msgid "The ray hit position. Shape (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:17 +msgid "The returned tensor contains :obj:`float('inf')` for missed hits." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:19 +msgid "The ray hit distance. Shape (N,)." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:19 +msgid "" +"Will only return if :attr:`return_distance` is True, else returns None. " +"The returned tensor contains :obj:`float('inf')` for missed hits." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:22 +msgid "The ray hit normal. Shape (N, 3)." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:22 +msgid "" +"Will only return if :attr:`return_normal` is True else returns None. The " +"returned tensor contains :obj:`float('inf')` for missed hits." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:25 +msgid "The ray hit face id. Shape (N,)." +msgstr "" + +#: of omni.isaac.lab.utils.warp.ops.raycast_mesh:25 +msgid "" +"Will only return if :attr:`return_face_id` is True else returns None. The" +" returned tensor contains :obj:`int(-1)` for missed hits." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.po new file mode 100644 index 0000000000..62f1be6981 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.po @@ -0,0 +1,301 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst:2 +msgid "omni.isaac.lab_tasks.utils.data_collector" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.data_collector:1 +msgid "Sub-module for data collection utilities." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.data_collector:3 +msgid "" +"All post-processed robomimic compatible datasets share the same data " +"structure. A single dataset is a single HDF5 file. The stored data " +"follows the structure provided `here " +"`_." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.data_collector:7 +msgid "" +"The collector takes input data in its batched format and stores them as " +"different demonstrations, each corresponding to a given environment " +"index. The demonstrations are flushed to disk when the " +":meth:`RobomimicDataCollector.flush` is called for the respective " +"environments. All the data is saved when the " +":meth:`RobomimicDataCollector.close()` is called." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.data_collector:13 +msgid "" +"The following sample shows how to use the :class:`RobomimicDataCollector`" +" to store random data in a dataset." +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst:7 +msgid "Classes" +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst:10::1 +msgid "" +":py:obj:`RobomimicDataCollector " +"`\\" +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst:10::1 +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1 +msgid "Data collection interface for robomimic." +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.data_collector.rst:13 +msgid "Robomimic Data Collector" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:3 +msgid "" +"This class implements a data collector interface for saving simulation " +"states to disk. The data is stored in `HDF5`_ binary data format. The " +"class is useful for collecting demonstrations. The collected data follows" +" the `structure`_ from robomimic." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:7 +msgid "" +"All datasets in `robomimic` require the observations and next " +"observations obtained from before and after the environment step. These " +"are stored as a dictionary of observations in the keys \"obs\" and " +"\"next_obs\" respectively." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:11 +msgid "" +"For certain agents in `robomimic`, the episode data should have the " +"following additional keys: \"actions\", \"rewards\", \"dones\". This " +"behavior can be altered by changing the dataset keys required in the " +"training configuration for the respective learning agent." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:15 +msgid "For reference on datasets, please check the robomimic `documentation`." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1 +msgid "**Methods:**" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "" +":py:obj:`__init__ " +"`\\" +" \\(env\\_name\\, directory\\_path\\[\\, ...\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:1 +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "Initializes the data collection wrapper." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "" +":py:obj:`is_stopped " +"`\\" +" \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.is_stopped:1 +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "Whether data collection is stopped or not." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "" +":py:obj:`reset " +"`\\" +" \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.reset:1 +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "Reset the internals of data logger." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "" +":py:obj:`add " +"`\\" +" \\(key\\, value\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.add:1 +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "Add a key-value pair to the dataset." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "" +":py:obj:`flush " +"`\\" +" \\(\\[env\\_ids\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.flush:1 +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "Flush the episode data based on environment indices." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "" +":py:obj:`close " +"`\\" +" \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.close:1 +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1::1 +msgid "Stop recording and save the file at its current state." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector:1 +msgid "**Attributes:**" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:1::1 +msgid "" +":py:obj:`demo_count " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.RobomimicDataCollector.demo_count:1 +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:1::1 +msgid "The number of demos collected so far." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__ +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.add +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.flush +msgid "Parameters" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:3 +msgid "The name of the environment." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:4 +msgid "The path to store collected data." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:5 +msgid "The basename of the saved file. Defaults to \"test\"." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:6 +msgid "Number of demonstrations to record until stopping. Defaults to 1." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:7 +msgid "Frequency to dump data to disk. Defaults to 1." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.__init__:8 +msgid "The configuration for the environment. Defaults to None." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.is_stopped +msgid "Returns" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.is_stopped:3 +msgid "True if data collection has stopped." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.add:3 +msgid "" +"The key can be nested by using the \"/\" character. For example: " +"\"obs/joint_pos\". Currently only two-level nesting is supported." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.add:6 +msgid "The key name." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.add:7 +msgid "" +"The corresponding value of shape (N, ...), where `N` is number of " +"environments." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.add +msgid "Raises" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.add:10 +msgid "" +"When provided key has sub-keys more than 2. Example: \"obs/joints/pos\", " +"instead of \"obs/joint_pos\"." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.data_collector.robomimic_data_collector.RobomimicDataCollector.flush:3 +msgid "Environment indices to write data for. Defaults to (0)." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab_tasks/omni.isaac.lab_tasks.utils.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab_tasks/omni.isaac.lab_tasks.utils.po new file mode 100644 index 0000000000..39130085d3 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab_tasks/omni.isaac.lab_tasks.utils.po @@ -0,0 +1,256 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst:2 +msgid "omni.isaac.lab_tasks.utils" +msgstr "" + +#: of omni.isaac.lab_tasks.utils:1 +msgid "Sub-package with utilities, data collectors and environment wrappers." +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst:9 +msgid "Submodules" +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst:13::1 +msgid ":py:obj:`data_collector `\\" +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst:13::1 +msgid "Sub-module for data collection utilities." +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst:13::1 +msgid ":py:obj:`wrappers `\\" +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.rst:13::1 +msgid "Sub-module for environment wrappers to different learning frameworks." +msgstr "" + +#: of omni.isaac.lab_tasks.utils:1 +msgid "**Functions:**" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +msgid "" +":py:obj:`import_packages `\\ " +"\\(package\\_name\\[\\, blacklist\\_pkgs\\]\\)" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.importer.import_packages:1 +#: omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +msgid "Import all sub-packages in a package recursively." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +msgid "" +":py:obj:`get_checkpoint_path " +"`\\ \\(log\\_path\\[\\, " +"run\\_dir\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +#: omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:1 +msgid "Get path to the model checkpoint in input directory." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +msgid "" +":py:obj:`load_cfg_from_registry " +"`\\ \\(task\\_name\\, " +"...\\)" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +#: omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:1 +msgid "Load default configuration given its entry point from the gym registry." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +msgid "" +":py:obj:`parse_env_cfg `\\ " +"\\(task\\_name\\[\\, use\\_gpu\\, ...\\]\\)" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.importer.import_packages:1::1 +#: omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:1 +msgid "Parse configuration for an environment and override based on inputs." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.importer.import_packages:3 +msgid "" +"It is easier to use this function to import all sub-packages in a package" +" recursively than to manually import each sub-package." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.importer.import_packages:6 +msgid "" +"It replaces the need of the following code snippet on the top of each " +"package's ``__init__.py`` file:" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.importer.import_packages +#: omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path +#: omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry +#: omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg +msgid "Parameters" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.importer.import_packages:14 +msgid "The package name." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.importer.import_packages:15 +msgid "" +"The list of blacklisted packages to skip. Defaults to None, which means " +"no packages are blacklisted." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:3 +msgid "" +"The checkpoint file is resolved as: " +"``//<*other_dirs>/``, where the " +":attr:`other_dirs` are intermediate folder names to concatenate. These " +"cannot be regex expressions." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:6 +msgid "" +"If :attr:`run_dir` and :attr:`checkpoint` are regex expressions then the " +"most recent (highest alphabetical order) run and checkpoint are selected." +" To disable this behavior, set the flag :attr:`sort_alpha` to False." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:9 +msgid "The log directory path to find models in." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:10 +msgid "" +"The regex expression for the name of the directory containing the run. " +"Defaults to the most recent directory created inside :attr:`log_path`." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:12 +msgid "" +"The intermediate directories between the run directory and the checkpoint" +" file. Defaults to None, which implies that checkpoint file is directly " +"under the run directory." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:14 +msgid "" +"The regex expression for the model checkpoint file. Defaults to the most " +"recent torch-model saved in the :attr:`run_dir` directory." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:16 +msgid "" +"Whether to sort the runs by alphabetical order. Defaults to True. If " +"False, the folders in :attr:`run_dir` are sorted by the last modified " +"time." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path +#: omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry +#: omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg +msgid "Raises" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:19 +msgid "When no runs are found in the input directory." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:20 +msgid "When no checkpoints are found in the input directory." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path +#: omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry +#: omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg +msgid "Returns" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.get_checkpoint_path:22 +msgid "The path to the model checkpoint." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:3 +msgid "" +"This function loads the configuration object from the gym registry for " +"the given task name. It supports both YAML and Python configuration " +"files." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:6 +msgid "It expects the configuration to be registered in the gym registry as:" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:16 +msgid "The parsed configuration object for above example can be obtained as:" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:24 +#: omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:3 +msgid "The name of the environment." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:25 +msgid "The entry point key to resolve the configuration file." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:27 +#: omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:10 +msgid "" +"The parsed configuration object. This is either a dictionary or a class " +"object." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.load_cfg_from_registry:29 +msgid "If the entry point key is not available in the gym registry for the task." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:4 +msgid "" +"Whether to use GPU/CPU pipeline. Defaults to None, in which case it is " +"left unchanged." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:5 +msgid "" +"Number of environments to create. Defaults to None, in which case it is " +"left unchanged." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:6 +msgid "" +"Whether to enable/disable fabric interface. If false, all read/write " +"operations go through USD. This slows down the simulation but allows " +"seeing the changes in the USD through the USD stage. Defaults to None, in" +" which case it is left unchanged." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.parse_cfg.parse_env_cfg:12 +msgid "If the task name is not provided, i.e. None." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.po b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.po new file mode 100644 index 0000000000..9821fcd97d --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.po @@ -0,0 +1,1512 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 12:43+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst:2 +msgid "omni.isaac.lab_tasks.utils.wrappers" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers:1 +msgid "Sub-module for environment wrappers to different learning frameworks." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers:3 +msgid "" +"Wrappers allow you to modify the behavior of an environment without " +"modifying the environment itself. This is useful for modifying the " +"observation space, action space, or reward function. Additionally, they " +"can be used to cast a given environment into the respective environment " +"class definition used by different learning frameworks. This operation " +"may include handling of asymmetric actor-critic observations, casting the" +" data between different backends such `numpy` and `pytorch`, or " +"organizing the returned data into the expected data structure by the " +"learning framework." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers:10 +msgid "" +"All wrappers work similar to the :class:`gymnasium.Wrapper` class. Using " +"a wrapper is as simple as passing the initialized environment instance to" +" the wrapper constructor. However, since learning frameworks expect " +"different input and output data structures, their wrapper classes are not" +" compatible with each other. Thus, they should always be used in " +"conjunction with the respective learning framework." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers:15 +msgid "" +"For instance, to wrap an environment in the `Stable-Baselines3`_ wrapper," +" you can do the following:" +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst:7 +msgid "RL-Games Wrapper" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games:1 +msgid "" +"Wrapper to configure an :class:`ManagerBasedRLEnv` instance to RL-Games " +"vectorized environment." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games:3 +msgid "" +"The following example shows how to wrap an environment for RL-Games and " +"register the environment construction for RL-Games :class:`Runner` class:" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl:1 +#: omni.isaac.lab_tasks.utils.wrappers.sb3:1 +msgid "**Classes:**" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "" +":py:obj:`RlGamesVecEnvWrapper " +"`\\" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "Wraps around Isaac Lab environment for RL-Games." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "" +":py:obj:`RlGamesGpuEnv " +"`\\" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv:1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "Thin wrapper to create instance of the environment to fit RL-Games runner." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv:1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1 +msgid "Bases: :py:class:`~rl_games.common.vecenv.IVecEnv`" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:3 +msgid "" +"This class wraps around the Isaac Lab environment. Since RL-Games works " +"directly on GPU buffers, the wrapper handles moving of buffers from the " +"simulation environment to the same device as the learning agent. " +"Additionally, it performs clipping of observations and actions." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:8 +msgid "" +"For algorithms like asymmetric actor-critic, RL-Games expects a " +"dictionary for observations. This dictionary contains \"obs\" and " +"\"states\" which typically correspond to the actor and critic " +"observations respectively." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:12 +msgid "" +"To use asymmetric actor-critic, the environment observations from " +":class:`ManagerBasedRLEnv` must have the key or group name \"critic\". " +"The observation group is used to set the :attr:`num_states` (int) and " +":attr:`state_space` (:obj:`gym.spaces.Box`). These are used by the " +"learning agent in RL-Games to allocate buffers in the trajectory memory. " +"Since this is optional for some environments, the wrapper checks if these" +" attributes exist. If they don't then the wrapper defaults to zero as " +"number of privileged observations." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:21 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:11 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:35 +msgid "" +"This class must be the last wrapper in the wrapper chain. This is because" +" the wrapper does not follow the :class:`gym.Wrapper` interface. Any " +"subsequent wrappers will need to be modified to work with this wrapper." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:28 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:16 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:39 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:7 +#: omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:14 +msgid "Reference:" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:27 +msgid "" +"https://github.com/Denys88/rl_games/blob/master/rl_games/common/ivecenv.py" +" https://github.com/NVIDIA-Omniverse/IsaacGymEnvs" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv:1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1 +msgid "**Methods:**" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "" +":py:obj:`__init__ " +"`\\" +" \\(env\\, rl\\_device\\, clip\\_obs\\, clip\\_actions\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "Initializes the wrapper instance." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "" +":py:obj:`class_name " +"`\\" +" \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.class_name:1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.class_name:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.class_name:1 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid "Returns the class name of the wrapper." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "" +":py:obj:`get_number_of_agents " +"`\\" +" \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_number_of_agents:1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "Returns number of actors in the environment." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "" +":py:obj:`get_env_info " +"`\\" +" \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.get_env_info:1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1::1 +msgid "Returns the Gym spaces for the environment." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1 +msgid "**Attributes:**" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +msgid "" +":py:obj:`render_mode " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.render_mode:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.render_mode:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "Returns the :attr:`Env` :attr:`render_mode`." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +msgid "" +":py:obj:`observation_space " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.observation_space:1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.state_space:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.observation_space:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "Returns the :attr:`Env` :attr:`observation_space`." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +msgid "" +":py:obj:`action_space " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.action_space:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.action_space:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "Returns the :attr:`Env` :attr:`action_space`." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +msgid "" +":py:obj:`unwrapped " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.unwrapped:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.unwrapped:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.unwrapped:1 +msgid "Returns the base environment of the wrapper." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +msgid "" +":py:obj:`num_envs " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.num_envs:1 +msgid "Returns the number of sub-environment instances." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +msgid "" +":py:obj:`device " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.device:1 +msgid "Returns the base environment simulation device." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:1::1 +msgid "" +":py:obj:`state_space " +"`\\" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__ +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__ +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_onnx +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__ +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__ +#: omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg +#: omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper +#: omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg +msgid "Parameters" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:3 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:5 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__:3 +#: omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:8 +msgid "The environment to wrap around." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:4 +msgid "The device on which agent computations are performed." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:5 +msgid "The clipping value for observations." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:6 +msgid "The clipping value for actions." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__ +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__ +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__ +#: omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper +#: omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg +msgid "Raises" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:8 +msgid "The environment is not inherited from :class:`ManagerBasedRLEnv`." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.__init__:9 +msgid "" +"If specified, the privileged observations (critic) are not of type " +":obj:`gym.spaces.Box`." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesVecEnvWrapper.unwrapped:3 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.unwrapped:3 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.unwrapped:3 +msgid "" +"This will be the bare :class:`gymnasium.Env` environment, underneath all " +"layers of wrappers." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ " +"\\(config\\_name\\, num\\_actors\\, \\*\\*kwargs\\)" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:1::1 +msgid "Initialize the environment." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:1::1 +msgid "" +":py:obj:`get_number_of_agents " +"`\\" +" \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_number_of_agents:1 +msgid "Get number of agents in the environment." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:1::1 +msgid "" +":py:obj:`get_env_info " +"`\\" +" \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_env_info:1 +msgid "Get the Gym spaces for the environment." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:3 +msgid "The name of the environment configuration." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.__init__:4 +msgid "The number of actors in the environment. This is not used in this wrapper." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_env_info +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_number_of_agents +#: omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg +#: omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg +msgid "Returns" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_number_of_agents:3 +msgid "The number of agents in the environment." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rl_games.RlGamesGpuEnv.get_env_info:3 +msgid "The Gym spaces for the environment." +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst:14 +msgid "RSL-RL Wrapper" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rsl_rl:1 +msgid "" +"Wrappers and utilities to configure an :class:`ManagerBasedRLEnv` for " +"RSL-RL library." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rsl_rl:1 +#: omni.isaac.lab_tasks.utils.wrappers.sb3:1 +#: omni.isaac.lab_tasks.utils.wrappers.skrl:1 +msgid "**Functions:**" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rsl_rl:1::1 +msgid "" +":py:obj:`export_policy_as_jit " +"`\\ " +"\\(actor\\_critic\\, ...\\[\\, ...\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl:1::1 +msgid "Export policy into a Torch JIT file." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rsl_rl:1::1 +msgid "" +":py:obj:`export_policy_as_onnx " +"`\\ " +"\\(actor\\_critic\\, path\\[\\, ...\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_onnx:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl:1::1 +msgid "Export policy into a Torch ONNX file." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +msgid "" +":py:obj:`RslRlOnPolicyRunnerCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg:1 +msgid "Configuration of the runner for on-policy algorithms." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +msgid "" +":py:obj:`RslRlPpoActorCriticCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1 +msgid "Configuration for the PPO actor-critic networks." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +msgid "" +":py:obj:`RslRlPpoAlgorithmCfg " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1 +msgid "Configuration for the PPO algorithm." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +msgid "" +":py:obj:`RslRlVecEnvWrapper " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:1::1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1 +msgid "Wraps around Isaac Lab environment for RSL-RL library" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:3 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_onnx:3 +msgid "The actor-critic torch module." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:4 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_onnx:4 +msgid "The empirical normalizer module. If None, Identity is used." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:5 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_onnx:5 +msgid "The path to the saving directory." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_jit:6 +msgid "The name of exported JIT file. Defaults to \"policy.pt\"." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_onnx:6 +msgid "The name of exported ONNX file. Defaults to \"policy.onnx\"." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.exporter.export_policy_as_onnx:7 +msgid "Whether to print the model summary. Defaults to False." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1 +msgid "Bases: :py:class:`object`" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg:1::1 +msgid "" +":py:obj:`__init__ " +"`\\" +" \\(\\[seed\\, device\\, num\\_steps\\_per\\_env\\, ...\\]\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`seed " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The seed for the experiment." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`device " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`num_steps_per_env " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.num_steps_per_env:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The number of steps per environment per update." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`max_iterations " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.max_iterations:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The maximum number of iterations." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`empirical_normalization " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.empirical_normalization:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "Whether to use empirical normalization." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`policy " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.policy:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The policy configuration." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`algorithm " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.algorithm:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The algorithm configuration." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`save_interval " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.save_interval:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The number of iterations between saves." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`experiment_name " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.experiment_name:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The experiment name." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`run_name " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The run name." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`logger " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The logger to use." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`neptune_project " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The neptune project name." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`wandb_project " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The wandb project name." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`resume " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "Whether to resume." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`load_run " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The run directory to load." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "" +":py:obj:`load_checkpoint " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlOnPolicyRunnerCfg.__init__:1::1 +msgid "The checkpoint file to load." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.seed:1 +msgid "The seed for the experiment. Default is 42." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.device +msgid "type" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.device:7 +msgid "The device for the rl-agent. Default is cuda" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.run_name:1 +msgid "The run name. Default is empty string." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.run_name:3 +msgid "" +"The name of the run directory is typically the time-stamp at execution. " +"If the run name is not empty, then it is appended to the run directory's " +"name, i.e. the logging directory's name will become ``{time-" +"stamp}_{run_name}``." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.logger:1 +msgid "The logger to use. Default is tensorboard." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.neptune_project:1 +msgid "The neptune project name. Default is \"isaaclab\"." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.wandb_project:1 +msgid "The wandb project name. Default is \"isaaclab\"." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.resume:1 +msgid "Whether to resume. Default is False." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_run:1 +msgid "The run directory to load. Default is \".*\" (all)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_run:3 +msgid "" +"If regex expression, the latest (alphabetical order) matching run will be" +" loaded." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_checkpoint:1 +msgid "The checkpoint file to load. Default is ``\"model_.*.pt\"`` (all)." +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlOnPolicyRunnerCfg.load_checkpoint:3 +msgid "" +"If regex expression, the latest (alphabetical order) matching file will " +"be loaded." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid "" +":py:obj:`class_name " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid "The policy class name." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid "" +":py:obj:`init_noise_std " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.init_noise_std:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid "The initial noise standard deviation for the policy." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid "" +":py:obj:`actor_hidden_dims " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.actor_hidden_dims:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid "The hidden dimensions of the actor network." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid "" +":py:obj:`critic_hidden_dims " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.critic_hidden_dims:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid "The hidden dimensions of the critic network." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid "" +":py:obj:`activation " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.activation:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoActorCriticCfg:1::1 +msgid "The activation function for the actor and critic networks." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.class_name:1::1 +msgid "" +":py:obj:`__init__ " +"`\\" +" \\(\\[class\\_name\\, init\\_noise\\_std\\, ...\\]\\)" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoActorCriticCfg.class_name:1 +msgid "The policy class name. Default is ActorCritic." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "" +":py:obj:`class_name " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "The algorithm class name." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "" +":py:obj:`value_loss_coef " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.value_loss_coef:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "The coefficient for the value loss." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "" +":py:obj:`use_clipped_value_loss " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.use_clipped_value_loss:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "Whether to use clipped value loss." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "" +":py:obj:`clip_param " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.clip_param:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "The clipping parameter for the policy." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "" +":py:obj:`entropy_coef " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.entropy_coef:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "The coefficient for the entropy loss." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "" +":py:obj:`num_learning_epochs " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_learning_epochs:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "The number of learning epochs per update." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "" +":py:obj:`num_mini_batches " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.num_mini_batches:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "The number of mini-batches per update." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "" +":py:obj:`learning_rate " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.learning_rate:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "The learning rate for the policy." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "" +":py:obj:`schedule " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.schedule:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "The learning rate schedule." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "" +":py:obj:`gamma " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.gamma:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "The discount factor." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "" +":py:obj:`lam " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.lam:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "The lambda parameter for Generalized Advantage Estimation (GAE)." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "" +":py:obj:`desired_kl " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.desired_kl:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "The desired KL divergence." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "" +":py:obj:`max_grad_norm " +"`\\" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.max_grad_norm:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.rl_cfg.RslRlPpoAlgorithmCfg:1::1 +msgid "The maximum gradient norm." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.class_name:1::1 +msgid "" +":py:obj:`__init__ " +"`\\" +" \\(\\[class\\_name\\, value\\_loss\\_coef\\, ...\\]\\)" +msgstr "" + +#: ../../docstring of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlPpoAlgorithmCfg.class_name:1 +msgid "The algorithm class name. Default is PPO." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1 +msgid "Bases: :py:class:`~rsl_rl.env.VecEnv`" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:3 +msgid "" +"To use asymmetric actor-critic, the environment instance must have the " +"attributes :attr:`num_privileged_obs` (int). This is used by the learning" +" agent to allocate buffers in the trajectory memory. Additionally, the " +"returned observations should have the key \"critic\" which corresponds to" +" the privileged observations. Since this is optional for some " +"environments, the wrapper checks if these attributes exist. If they don't" +" then the wrapper defaults to zero as number of privileged observations." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:16 +msgid "https://github.com/leggedrobotics/rsl_rl/blob/master/rsl_rl/env/vec_env.py" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1::1 +msgid "" +":py:obj:`__init__ " +"`\\" +" \\(env\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1::1 +msgid "Initializes the wrapper." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1::1 +msgid "" +":py:obj:`class_name " +"`\\" +" \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1::1 +msgid "" +":py:obj:`get_observations " +"`\\" +" \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.get_observations:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper:1::1 +msgid "Returns the current observations of the environment." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "" +":py:obj:`cfg " +"`\\" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.cfg:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "Returns the configuration class instance of the environment." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "" +":py:obj:`render_mode " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "" +":py:obj:`observation_space " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "" +":py:obj:`action_space " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "" +":py:obj:`unwrapped " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "" +":py:obj:`episode_length_buf " +"`\\" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.RslRlVecEnvWrapper.episode_length_buf:1 +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:1::1 +msgid "The episode length buffer." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:3 +msgid "" +"The wrapper calls :meth:`reset` at the start since the RSL-RL runner does" +" not call reset." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.rsl_rl.vecenv_wrapper.RslRlVecEnvWrapper.__init__:7 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__:5 +#: omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:11 +msgid "When the environment is not an instance of :class:`ManagerBasedRLEnv`." +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst:22 +msgid "SKRL Wrapper" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.skrl:1 +msgid "" +"Wrapper to configure an :class:`ManagerBasedRLEnv` instance to skrl " +"environment." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.skrl:3 +msgid "The following example shows how to wrap an environment for skrl:" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.skrl:11 +msgid "Or, equivalently, by directly calling the skrl library API as follows:" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:1::1 +msgid "" +":py:obj:`process_skrl_cfg " +"`\\ " +"\\(cfg\\[\\, ml\\_framework\\]\\)" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:1 +#: omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:1::1 +msgid "Convert simple YAML types to skrl classes/components." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:1::1 +msgid "" +":py:obj:`SkrlVecEnvWrapper " +"`\\ " +"\\(env\\[\\, ml\\_framework\\]\\)" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:1 +#: omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:1::1 +msgid "Wraps around Isaac Lab environment for skrl." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:3 +#: omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:3 +msgid "A configuration dictionary." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:9 +#: omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:4 +msgid "The ML framework to use for the wrapper. Defaults to \"torch\"." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:5 +#: omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:6 +msgid "A dictionary containing the converted configuration." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:12 +#: omni.isaac.lab_tasks.utils.wrappers.skrl.process_skrl_cfg:8 +msgid "If the specified ML framework is not valid." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:3 +msgid "" +"This function wraps around the Isaac Lab environment. Since the " +":class:`ManagerBasedRLEnv` environment wrapping functionality is defined " +"within the skrl library itself, this implementation is maintained for " +"compatibility with the structure of the extension that contains it. " +"Internally it calls the :func:`wrap_env` from the skrl library API." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.skrl.SkrlVecEnvWrapper:15 +msgid "https://skrl.readthedocs.io/en/latest/api/envs/wrapping.html" +msgstr "" + +#: ../../source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst:29 +msgid "Stable-Baselines3 Wrapper" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3:1 +msgid "" +"Wrapper to configure an :class:`ManagerBasedRLEnv` instance to Stable-" +"Baselines3 vectorized environment." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3:3 +msgid "" +"The following example shows how to wrap an environment for Stable-" +"Baselines3:" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3:1::1 +msgid "" +":py:obj:`process_sb3_cfg " +"`\\ \\(cfg\\)" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:1 +#: omni.isaac.lab_tasks.utils.wrappers.sb3:1::1 +msgid "Convert simple YAML types to Stable-Baselines classes/components." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:1::1 +msgid "" +":py:obj:`Sb3VecEnvWrapper " +"`\\" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:1::1 +msgid "Wraps around Isaac Lab environment for Stable Baselines3." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.process_sb3_cfg:8 +msgid "" +"https://github.com/DLR-RM/rl-" +"baselines3-zoo/blob/0e5eb145faefa33e7d79c7f8c179788574b20da5/utils/exp_manager.py#L358" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1 +msgid "Bases: :py:class:`~stable_baselines3.common.vec_env.base_vec_env.VecEnv`" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:3 +msgid "" +"Isaac Sim internally implements a vectorized environment. However, since " +"it is still considered a single environment instance, Stable Baselines " +"tries to wrap around it using the :class:`DummyVecEnv`. This is only done" +" if the environment is not inheriting from their :class:`VecEnv`. Thus, " +"this class thinly wraps over the environment from " +":class:`ManagerBasedRLEnv`." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:11 +msgid "" +"While Stable-Baselines3 supports Gym 0.26+ API, their vectorized " +"environment still uses the old API (i.e. it is closer to Gym 0.21). Thus," +" we implement the old API for the vectorized environment." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:15 +msgid "" +"We also add monitoring functionality that computes the un-discounted " +"episode return and length. This information is added to the info dicts " +"under key `episode`." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:18 +msgid "" +"In contrast to the Isaac Lab environment, stable-baselines expect the " +"following:" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:20 +msgid "numpy datatype for MDP signals" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:21 +msgid "a list of info dicts for each sub-environment (instead of a dict)" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:22 +msgid "" +"when environment has terminated, the observations from the environment " +"should correspond to the one after reset. The \"real\" final observation " +"is passed using the info dicts under the key ``terminal_observation``." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:28 +msgid "" +"By the nature of physics stepping in Isaac Sim, it is not possible to " +"forward the simulation buffers without performing a physics step. Thus, " +"reset is performed inside the :meth:`step()` function after the actual " +"physics step is taken. Thus, the returned observations for terminated " +"environments is the one after the reset." +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:41 +msgid "https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:42 +msgid "https://stable-baselines3.readthedocs.io/en/master/common/monitor.html" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid "" +":py:obj:`__init__ " +"`\\ " +"\\(env\\)" +msgstr "" + +#: of omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__:1 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid "Initialize the wrapper." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid "" +":py:obj:`class_name " +"`\\ " +"\\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid "" +":py:obj:`get_episode_rewards " +"`\\" +" \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_rewards:1 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid "Returns the rewards of all the episodes." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid "" +":py:obj:`get_episode_lengths " +"`\\" +" \\(\\)" +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.get_episode_lengths:1 +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper:1::1 +msgid "Returns the number of time-steps of all the episodes." +msgstr "" + +#: of +#: omni.isaac.lab_tasks.utils.wrappers.sb3.Sb3VecEnvWrapper.__init__:1::1 +msgid "" +":py:obj:`unwrapped " +"`\\" +msgstr "" + +#~ msgid "" +#~ ":py:obj:`process_skrl_cfg " +#~ "`\\ " +#~ "\\(cfg\\)" +#~ msgstr "" + +#~ msgid "" +#~ ":py:obj:`SkrlVecEnvWrapper " +#~ "`\\ " +#~ "\\(env\\)" +#~ msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/deployment/cluster.po b/docs/locale/zh_CN/LC_MESSAGES/source/deployment/cluster.po new file mode 100644 index 0000000000..545bbe4104 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/deployment/cluster.po @@ -0,0 +1,291 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/deployment/cluster.rst:5 +msgid "Cluster Guide" +msgstr "集群指南" + +#: ../../source/deployment/cluster.rst:7 +msgid "" +"Clusters are a great way to speed up training and evaluation of learning " +"algorithms. While the Isaac Lab Docker image can be used to run jobs on a " +"cluster, many clusters only support singularity images. This is because " +"`singularity`_ is designed for ease-of-use on shared multi-user systems and " +"high performance computing (HPC) environments. It does not require root " +"privileges to run containers and can be used to run user-defined containers." +msgstr "" +"集群是加快训练和评估学习算法的绝佳方式。虽然Isaac Lab " +"Docker镜像可用于在集群上运行作业，但许多集群仅支持singularity镜像。这是因为`singularity`_旨在为共享的多用户系统和高性能计算（HPC）环境提供使用便利。它不需要root权限来运行容器，并且可以用于运行用户定义的容器。" + +#: ../../source/deployment/cluster.rst:14 +msgid "" +"Singularity is compatible with all Docker images. In this section, we " +"describe how to convert the Isaac Lab Docker image into a singularity image " +"and use it to submit jobs to a cluster." +msgstr "" +"Singularity与所有Docker镜像兼容。在本节中，我们将描述如何将Isaac Lab " +"Docker镜像转换为singularity镜像，并使用它来提交到集群。" + +#: ../../source/deployment/cluster.rst:19 +msgid "" +"Cluster setup varies across different institutions. The following " +"instructions have been tested on the `ETH Zurich Euler`_ cluster, which uses" +" the SLURM workload manager." +msgstr "不同机构的集群设置各不相同。下面的说明已在使用SLURM工作负载管理器的`ETH Zurich Euler`_集群上进行了测试。" + +#: ../../source/deployment/cluster.rst:22 +msgid "" +"The instructions may need to be adapted for other clusters. If you have " +"successfully adapted the instructions for another cluster, please consider " +"contributing to the documentation." +msgstr "说明可能需要为其他集群进行适应。如果您已经成功地为其他集群进行了适应，请考虑为文档做出贡献。" + +#: ../../source/deployment/cluster.rst:28 +msgid "Setup Instructions" +msgstr "设置说明" + +#: ../../source/deployment/cluster.rst:30 +msgid "" +"In order to export the Docker Image to a singularity image, `apptainer`_ is " +"required. A detailed overview of the installation procedure for " +"``apptainer`` can be found in its `documentation`_. For convenience, we " +"summarize the steps here for a local installation:" +msgstr "" +"为了将Docker镜像导出为singularity镜像，需要`apptainer`_。`apptainer`的安装程序的详细概述可以在其`文档`_中找到。为方便起见，我们在此总结这些步骤，供本地安装使用：" + +#: ../../source/deployment/cluster.rst:42 +msgid "" +"For simplicity, we recommend that an SSH connection is set up between the " +"local development machine and the cluster. Such a connection will simplify " +"the file transfer and prevent the user cluster password from being requested" +" multiple times." +msgstr "为了简单起见，我们建议在本地开发机和集群之间建立SSH连接。这种连接将简化文件传输，并防止用户集群密码被多次请求。" + +#: ../../source/deployment/cluster.rst:47 +msgid "" +"The workflow has been tested with ``apptainer version 1.2.5-1.el7`` and " +"``docker version 24.0.7``." +msgstr "" +"该工作流已使用``apptainer version 1.2.5-1.el7``和``docker version 24.0.7``进行了测试。" + +#: ../../source/deployment/cluster.rst:49 +msgid "" +"``apptainer``: There have been reported binding issues with previous " +"versions (such as ``apptainer version 1.1.3-1.el7``). Please ensure that you" +" are using the latest version." +msgstr "" +"``apptainer``: 先前版本（例如``apptainer version " +"1.1.3-1.el7``）存在已报告的绑定问题。请确保您使用的是最新版本。" + +#: ../../source/deployment/cluster.rst:52 +msgid "" +"``Docker``: The latest versions (``25.x``) cannot be used as they are not " +"compatible yet with apptainer/ singularity." +msgstr "``Docker``: 最新版本（``25.x``）目前无法使用，因为它们尚未与apptainer/singularity兼容。" + +#: ../../source/deployment/cluster.rst:55 +msgid "" +"We are waiting for an update from the apptainer team. To track this issue, " +"please check the `forum post`_." +msgstr "我们正在等待apptainer团队的更新。要跟踪此问题，请检查`论坛帖子`_。" + +#: ../../source/deployment/cluster.rst:58 +msgid "Configuring the cluster parameters" +msgstr "配置集群参数" + +#: ../../source/deployment/cluster.rst:60 +msgid "" +"First, you need to configure the cluster-specific parameters in " +"``docker/.env.base`` file. The following describes the parameters that need " +"to be configured:" +msgstr "首先，您需要在``docker/.env.base``文件中配置特定于集群的参数。以下描述了需要进行配置的参数：" + +#: ../../source/deployment/cluster.rst:63 +msgid "" +"``CLUSTER_ISAAC_SIM_CACHE_DIR``: The directory on the cluster where the " +"Isaac Sim cache is stored. This directory has to end on ``docker-isaac-" +"sim``. This directory will be copied to the compute node and mounted into " +"the singularity container. It should increase the speed of starting the " +"simulation." +msgstr "" +"``CLUSTER_ISAAC_SIM_CACHE_DIR``：存储Isaac Sim缓存的集群目录。此目录必须以``docker-isaac-" +"sim``结尾。此目录将被复制到计算节点并挂载到singularity容器中。它应该提高启动模拟的速度。" + +#: ../../source/deployment/cluster.rst:68 +msgid "" +"``CLUSTER_ISAACLAB_DIR``: The directory on the cluster where the Isaac Lab " +"code is stored. This directory has to end on ``isaaclab``. This directory " +"will be copied to the compute node and mounted into the singularity " +"container. When a job is submitted, the latest local changes will be copied " +"to the cluster." +msgstr "" +"``CLUSTER_ISAACLAB_DIR``：存储Isaac " +"Lab代码的集群目录。此目录必须以``isaaclab``结尾。此目录将被复制到计算节点并挂载到singularity容器中。提交作业时，将最新的本地更改复制到集群。" + +#: ../../source/deployment/cluster.rst:73 +msgid "" +"``CLUSTER_LOGIN``: The login to the cluster. Typically, this is the user and" +" cluster names, e.g., ``your_user@euler.ethz.ch``." +msgstr "``CLUSTER_LOGIN``：集群登录。通常，这是用户和集群名称，例如``your_user@euler.ethz.ch``。" + +#: ../../source/deployment/cluster.rst:76 +msgid "" +"``CLUSTER_SIF_PATH``: The path on the cluster where the singularity image " +"will be stored. The image will be copied to the compute node but not " +"uploaded again to the cluster when a job is submitted." +msgstr "" +"``CLUSTER_SIF_PATH``：存储singularity镜像的集群路径。镜像将被复制到计算节点，但在提交作业时不会再次上传到集群。" + +#: ../../source/deployment/cluster.rst:79 +msgid "" +"``CLUSTER_PYTHON_EXECUTABLE``: The path within Isaac Lab to the Python " +"executable that should be executed in the submitted job." +msgstr "``CLUSTER_PYTHON_EXECUTABLE``：在Isaac Lab中指定要在提交的作业中执行的Python可执行文件的路径。" + +#: ../../source/deployment/cluster.rst:83 +msgid "Exporting to singularity image" +msgstr "导出到singularity镜像" + +#: ../../source/deployment/cluster.rst:85 +msgid "" +"Next, we need to export the Docker image to a singularity image and upload " +"it to the cluster. This step is only required once when the first job is " +"submitted or when the Docker image is updated. For instance, due to an " +"upgrade of the Isaac Sim version, or additional requirements for your " +"project." +msgstr "" +"接下来，我们需要将Docker镜像导出为singularity镜像并上传到集群。当第一次提交作业时或当更新Docker镜像时，将需要进行此步骤。例如，由于升级了Isaac" +" Sim版本或项目的其他要求。" + +#: ../../source/deployment/cluster.rst:90 +msgid "To export to a singularity image, execute the following command:" +msgstr "要导出为singularity镜像，请执行以下命令：" + +#: ../../source/deployment/cluster.rst:96 +msgid "" +"This command will create a singularity image under ``docker/exports`` " +"directory and upload it to the defined location on the cluster. Be aware " +"that creating the singularity image can take a while. ``[profile]`` is an " +"optional argument that specifies the container profile to be used. If no " +"profile is specified, the default profile ``base`` will be used." +msgstr "" +"此命令将在``docker/exports``目录下创建一个singularity镜像，并将其上传到集群上定义的位置。请注意，创建singularity镜像可能需要一段时间。``[profile]``是一个可选参数，用于指定要使用的容器配置文件。如果未指定配置文件，则将使用默认配置文件``base``。" + +#: ../../source/deployment/cluster.rst:103 +msgid "" +"By default, the singularity image is created without root access by " +"providing the ``--fakeroot`` flag to the ``apptainer build`` command. In " +"case the image creation fails, you can try to create it with root access by " +"removing the flag in ``docker/container.sh``." +msgstr "" +"默认情况下，通过在``apptainer " +"build``命令中提供``--fakeroot``标志，singularity镜像将在没有根访问权限的情况下创建。如果创建镜像失败，您可以尝试通过在``docker/container.sh``中删除该标志，以使用根访问权限创建它。" + +#: ../../source/deployment/cluster.rst:109 +msgid "Job Submission and Execution" +msgstr "作业提交和执行" + +#: ../../source/deployment/cluster.rst:112 +msgid "Defining the job parameters" +msgstr "定义作业参数" + +#: ../../source/deployment/cluster.rst:114 +msgid "" +"The job parameters are defined inside the ``docker/cluster/submit_job.sh``. " +"A typical SLURM operation requires specifying the number of CPUs and GPUs, " +"the memory, and the time limit. For more information, please check the " +"`SLURM documentation`_." +msgstr "" +"作业参数是在``docker/cluster/submit_job.sh``中定义的。典型的SLURM操作需要指定CPU和GPU的数量，内存和时间限制。有关更多信息，请查看`SLURM文档`_。" + +#: ../../source/deployment/cluster.rst:118 +msgid "The default configuration is as follows:" +msgstr "默认配置如下：" + +#: ../../source/deployment/cluster.rst:126 +msgid "" +"An essential requirement for the cluster is that the compute node has access" +" to the internet at all times. This is required to load assets from the " +"Nucleus server. For some cluster architectures, extra modules must be loaded" +" to allow internet access." +msgstr "" +"集群的一个基本要求是计算节点在任何时候都能够访问互联网。这是从Nucleus服务器加载资源所必需的。对于某些集群架构，必须加载额外的模块以允许互联网访问。" + +#: ../../source/deployment/cluster.rst:130 +msgid "" +"For instance, on ETH Zurich Euler cluster, the ``eth_proxy`` module needs to" +" be loaded. This can be done by adding the following line to the " +"``submit_job.sh`` script:" +msgstr "" +"例如，在ETH Zurich " +"Euler集群上，需要加载``eth_proxy``模块。这可以通过将以下行添加到``submit_job.sh``脚本来实现：" + +#: ../../source/deployment/cluster.rst:140 +msgid "Submitting a job" +msgstr "提交作业" + +#: ../../source/deployment/cluster.rst:142 +msgid "To submit a job on the cluster, the following command can be used:" +msgstr "要在集群上提交作业，可以使用以下命令：" + +#: ../../source/deployment/cluster.rst:148 +msgid "" +"This command will copy the latest changes in your code to the cluster and " +"submit a job. Please ensure that your Python executable's output is stored " +"under ``isaaclab/logs`` as this directory will be copied again from the " +"compute node to ``CLUSTER_ISAACLAB_DIR``." +msgstr "" +"此命令将最新更改的代码复制到集群并提交作业。请确保您的Python可执行文件的输出存储在``isaaclab/logs``下，因为此目录将从计算节点再次复制到``CLUSTER_ISAACLAB_DIR``。" + +#: ../../source/deployment/cluster.rst:152 +msgid "" +"``[profile]`` is an optional argument that specifies which singularity image" +" corresponding to the container profile will be used. If no profile is " +"specified, the default profile ``base`` will be used. The profile has be " +"defined directlty after the ``job`` command. All other arguments are passed " +"to the Python executable. If no profile is defined, all arguments are passed" +" to the Python executable." +msgstr "" +"``[profile]``是一个可选参数，指定哪个与容器配置文件对应的singularity镜像将被使用。如果未指定配置文件，则将使用默认配置文件``base``。配置文件必须直接在``job``命令之后定义。所有其他参数都传递给Python可执行文件。如果未定义配置文件，则所有参数都将传递给Python可执行文件。" + +#: ../../source/deployment/cluster.rst:157 +msgid "" +"The training arguments are passed to the Python executable. As an example, " +"the standard ANYmal rough terrain locomotion training can be executed with " +"the following command:" +msgstr "培训参数将传递给Python可执行文件。例如，可以使用以下命令执行标准ANYmal恶劣地形运动训练：" + +#: ../../source/deployment/cluster.rst:164 +msgid "" +"The above will, in addition, also render videos of the training progress and" +" store them under ``isaaclab/logs`` directory." +msgstr "以上将在进行训练的同时，还会渲染视频并将其存储在``isaaclab/logs``目录下。" + +#: ../../source/deployment/cluster.rst:168 +msgid "" +"The ``./docker/container.sh job`` command will copy the latest changes in " +"your code to the cluster. However, it will not delete any files that have " +"been deleted locally. These files will still exist on the cluster which can " +"lead to issues. In this case, we recommend removing the " +"``CLUSTER_ISAACLAB_DIR`` directory on the cluster and re-run the command." +msgstr "" +"``./docker/container.sh " +"job``命令将最新更改的代码复制到集群。但它不会删除在本地已删除的任何文件。这些文件仍将存在于集群上，这可能会导致问题。在这种情况下，我们建议删除集群上的``CLUSTER_ISAACLAB_DIR``目录，并重新运行命令。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/deployment/docker.po b/docs/locale/zh_CN/LC_MESSAGES/source/deployment/docker.po new file mode 100644 index 0000000000..16c4c05278 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/deployment/docker.po @@ -0,0 +1,595 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/deployment/docker.rst:5 +msgid "Docker Guide" +msgstr "Docker Guide" + +#: ../../source/deployment/docker.rst:9 +msgid "" +"Due to the dependency on Isaac Sim docker image, by running this container " +"you are implicitly agreeing to the `NVIDIA Omniverse EULA`_. If you do not " +"agree to the EULA, do not run this container." +msgstr "" +"Due to the dependency on Isaac Sim docker image, by running this container " +"you are implicitly agreeing to the `NVIDIA Omniverse EULA`_. If you do not " +"agree to the EULA, do not run this container." + +#: ../../source/deployment/docker.rst:13 +msgid "Setup Instructions" +msgstr "Setup Instructions" + +#: ../../source/deployment/docker.rst:17 +msgid "" +"The following steps are taken from the NVIDIA Omniverse Isaac Sim " +"documentation on `container installation`_. They have been added here for " +"the sake of completeness." +msgstr "" +"The following steps are taken from the NVIDIA Omniverse Isaac Sim " +"documentation on `container installation`_. They have been added here for " +"the sake of completeness." + +#: ../../source/deployment/docker.rst:22 +msgid "Docker and Docker Compose" +msgstr "Docker and Docker Compose" + +#: ../../source/deployment/docker.rst:24 +msgid "" +"We have tested the container using Docker Engine version 26.0.0 and Docker " +"Compose version 2.25.0 We recommend using these versions or newer." +msgstr "" +"We have tested the container using Docker Engine version 26.0.0 and Docker " +"Compose version 2.25.0 We recommend using these versions or newer." + +#: ../../source/deployment/docker.rst:27 +msgid "" +"To install Docker, please follow the instructions for your operating system " +"on the `Docker website`_." +msgstr "" +"To install Docker, please follow the instructions for your operating system " +"on the `Docker website`_." + +#: ../../source/deployment/docker.rst:28 +msgid "" +"To install Docker Compose, please follow the instructions for your operating" +" system on the `docker compose`_ page." +msgstr "" +"To install Docker Compose, please follow the instructions for your operating" +" system on the `docker compose`_ page." + +#: ../../source/deployment/docker.rst:29 +msgid "" +"Follow the post-installation steps for Docker on the `post-installation " +"steps`_ page. These steps allow you to run Docker without using ``sudo``." +msgstr "" +"Follow the post-installation steps for Docker on the `post-installation " +"steps`_ page. These steps allow you to run Docker without using ``sudo``." + +#: ../../source/deployment/docker.rst:31 +msgid "" +"To build and run GPU-accelerated containers, you also need install the " +"`NVIDIA Container Toolkit`_. Please follow the instructions on the " +"`Container Toolkit website`_ for installation steps." +msgstr "" +"To build and run GPU-accelerated containers, you also need install the " +"`NVIDIA Container Toolkit`_. Please follow the instructions on the " +"`Container Toolkit website`_ for installation steps." + +#: ../../source/deployment/docker.rst:36 +msgid "" +"Due to limitations with `snap `_, please make sure the Isaac Lab directory is placed under the " +"``/home`` directory tree when using docker." +msgstr "" +"Due to limitations with `snap `_, please make sure the Isaac Lab directory is placed under the " +"``/home`` directory tree when using docker." + +#: ../../source/deployment/docker.rst:41 +msgid "Obtaining the Isaac Sim Container" +msgstr "Obtaining the Isaac Sim Container" + +#: ../../source/deployment/docker.rst:43 +msgid "" +"Get access to the `Isaac Sim container`_ by joining the NVIDIA Developer " +"Program credentials." +msgstr "" +"Get access to the `Isaac Sim container`_ by joining the NVIDIA Developer " +"Program credentials." + +#: ../../source/deployment/docker.rst:44 +msgid "" +"Generate your `NGC API key`_ to access locked container images from NVIDIA " +"GPU Cloud (NGC)." +msgstr "" +"Generate your `NGC API key`_ to access locked container images from NVIDIA " +"GPU Cloud (NGC)." + +#: ../../source/deployment/docker.rst:46 +msgid "" +"This step requires you to create an NGC account if you do not already have " +"one." +msgstr "" +"This step requires you to create an NGC account if you do not already have " +"one." + +#: ../../source/deployment/docker.rst:47 +msgid "" +"You would also need to install the NGC CLI to perform operations from the " +"command line." +msgstr "" +"You would also need to install the NGC CLI to perform operations from the " +"command line." + +#: ../../source/deployment/docker.rst:48 +msgid "" +"Once you have your generated API key and have installed the NGC CLI, you " +"need to log in to NGC from the terminal." +msgstr "" +"Once you have your generated API key and have installed the NGC CLI, you " +"need to log in to NGC from the terminal." + +#: ../../source/deployment/docker.rst:55 +msgid "Use the command line to pull the Isaac Sim container image from NGC." +msgstr "Use the command line to pull the Isaac Sim container image from NGC." + +#: ../../source/deployment/docker.rst:61 +msgid "" +"For the username, enter ``$oauthtoken`` exactly as shown. It is a special " +"username that is used to authenticate with NGC." +msgstr "" +"For the username, enter ``$oauthtoken`` exactly as shown. It is a special " +"username that is used to authenticate with NGC." + +#: ../../source/deployment/docker.rst:71 +msgid "Directory Organization" +msgstr "Directory Organization" + +#: ../../source/deployment/docker.rst:73 +msgid "" +"The root of the Isaac Lab repository contains the ``docker`` directory that " +"has various files and scripts needed to run Isaac Lab inside a Docker " +"container. A subset of these are summarized below:" +msgstr "" +"The root of the Isaac Lab repository contains the ``docker`` directory that " +"has various files and scripts needed to run Isaac Lab inside a Docker " +"container. A subset of these are summarized below:" + +#: ../../source/deployment/docker.rst:76 +msgid "" +"``Dockerfile.base``: Defines the isaaclab image by overlaying Isaac Lab " +"dependencies onto the Isaac Sim Docker image. ``Dockerfiles`` which end with" +" something else, (i.e. ``Dockerfile.ros2``) build an `image_extension " +"<#isaac-lab-image-extensions>`_." +msgstr "" +"``Dockerfile.base``: Defines the isaaclab image by overlaying Isaac Lab " +"dependencies onto the Isaac Sim Docker image. ``Dockerfiles`` which end with" +" something else, (i.e. ``Dockerfile.ros2``) build an `image_extension " +"<#isaac-lab-image-extensions>`_." + +#: ../../source/deployment/docker.rst:78 +msgid "" +"``docker-compose.yaml``: Creates mounts to allow direct editing of Isaac Lab" +" code from the host machine that runs the container. It also creates several" +" named volumes such as ``isaac-cache-kit`` to store frequently re-used " +"resources compiled by Isaac Sim, such as shaders, and to retain logs, data, " +"and documents." +msgstr "" +"``docker-compose.yaml``: Creates mounts to allow direct editing of Isaac Lab" +" code from the host machine that runs the container. It also creates several" +" named volumes such as ``isaac-cache-kit`` to store frequently re-used " +"resources compiled by Isaac Sim, such as shaders, and to retain logs, data, " +"and documents." + +#: ../../source/deployment/docker.rst:81 +msgid "" +"``base.env``: Stores environment variables required for the ``base`` build " +"process and the container itself. ``.env`` files which end with something " +"else (i.e. ``.env.ros2``) define these for `image_extension <#isaac-lab-" +"image-extensions>`_." +msgstr "" +"``base.env``: Stores environment variables required for the ``base`` build " +"process and the container itself. ``.env`` files which end with something " +"else (i.e. ``.env.ros2``) define these for `image_extension <#isaac-lab-" +"image-extensions>`_." + +#: ../../source/deployment/docker.rst:83 +msgid "" +"``container.sh``: A script that wraps the ``docker compose`` command to " +"build the image and run the container." +msgstr "" +"``container.sh``: A script that wraps the ``docker compose`` command to " +"build the image and run the container." + +#: ../../source/deployment/docker.rst:86 +msgid "Running the Container" +msgstr "Running the Container" + +#: ../../source/deployment/docker.rst:90 +msgid "" +"The docker container copies all the files from the repository into the " +"container at the location ``/workspace/isaaclab`` at build time. This means " +"that any changes made to the files in the container would not normally be " +"reflected in the repository after the image has been built, i.e. after " +"``./container.sh start`` is run." +msgstr "" +"The docker container copies all the files from the repository into the " +"container at the location ``/workspace/isaaclab`` at build time. This means " +"that any changes made to the files in the container would not normally be " +"reflected in the repository after the image has been built, i.e. after " +"``./container.sh start`` is run." + +#: ../../source/deployment/docker.rst:94 +msgid "" +"For a faster development cycle, we mount the following directories in the " +"Isaac Lab repository into the container so that you can edit their files " +"from the host machine:" +msgstr "" +"For a faster development cycle, we mount the following directories in the " +"Isaac Lab repository into the container so that you can edit their files " +"from the host machine:" + +#: ../../source/deployment/docker.rst:97 +msgid "" +"``source``: This is the directory that contains the Isaac Lab source code." +msgstr "" +"``source``: This is the directory that contains the Isaac Lab source code." + +#: ../../source/deployment/docker.rst:98 +msgid "" +"``docs``: This is the directory that contains the source code for Isaac Lab " +"documentation. This is overlaid except for the ``_build`` subdirectory where" +" build artifacts are stored." +msgstr "" +"``docs``: This is the directory that contains the source code for Isaac Lab " +"documentation. This is overlaid except for the ``_build`` subdirectory where" +" build artifacts are stored." + +#: ../../source/deployment/docker.rst:102 +msgid "" +"The script ``container.sh`` wraps around three basic ``docker compose`` " +"commands. Each can accept an `image_extension argument <#isaac-lab-image-" +"extensions>`_, or else they will default to image_extension ``base``:" +msgstr "" +"The script ``container.sh`` wraps around three basic ``docker compose`` " +"commands. Each can accept an `image_extension argument <#isaac-lab-image-" +"extensions>`_, or else they will default to image_extension ``base``:" + +#: ../../source/deployment/docker.rst:105 +msgid "" +"``start``: This builds the image and brings up the container in detached " +"mode (i.e. in the background)." +msgstr "" +"``start``: This builds the image and brings up the container in detached " +"mode (i.e. in the background)." + +#: ../../source/deployment/docker.rst:106 +msgid "" +"``enter``: This begins a new bash process in an existing isaaclab container," +" and which can be exited without bringing down the container." +msgstr "" +"``enter``: This begins a new bash process in an existing isaaclab container," +" and which can be exited without bringing down the container." + +#: ../../source/deployment/docker.rst:108 +msgid "" +"``copy``: This copies the ``logs``, ``data_storage`` and ``docs/_build`` " +"artifacts, from the ``isaac-lab-logs``, ``isaac-lab-data`` and ``isaac-lab-" +"docs`` volumes respectively, to the ``docker/artifacts`` directory. These " +"artifacts persist between docker container instances and are shared between " +"image extensions." +msgstr "" +"``copy``: This copies the ``logs``, ``data_storage`` and ``docs/_build`` " +"artifacts, from the ``isaac-lab-logs``, ``isaac-lab-data`` and ``isaac-lab-" +"docs`` volumes respectively, to the ``docker/artifacts`` directory. These " +"artifacts persist between docker container instances and are shared between " +"image extensions." + +#: ../../source/deployment/docker.rst:111 +msgid "``stop``: This brings down the container and removes it." +msgstr "``stop``: This brings down the container and removes it." + +#: ../../source/deployment/docker.rst:113 +msgid "" +"The following shows how to launch the container in a detached state and " +"enter it:" +msgstr "" +"The following shows how to launch the container in a detached state and " +"enter it:" + +#: ../../source/deployment/docker.rst:124 +msgid "" +"To copy files from the base container to the host machine, you can use the " +"following command:" +msgstr "" +"To copy files from the base container to the host machine, you can use the " +"following command:" + +#: ../../source/deployment/docker.rst:131 +msgid "" +"The script ``container.sh`` provides a wrapper around this command to copy " +"the ``logs`` , ``data_storage`` and ``docs/_build`` directories to the " +"``docker/artifacts`` directory. This is useful for copying the logs, data " +"and documentation:" +msgstr "" +"The script ``container.sh`` provides a wrapper around this command to copy " +"the ``logs`` , ``data_storage`` and ``docs/_build`` directories to the " +"``docker/artifacts`` directory. This is useful for copying the logs, data " +"and documentation:" + +#: ../../source/deployment/docker.rst:141 +msgid "Python Interpreter" +msgstr "Python Interpreter" + +#: ../../source/deployment/docker.rst:143 +msgid "" +"The container uses the Python interpreter provided by Isaac Sim. This " +"interpreter is located at ``/isaac-sim/python.sh``. We set aliases inside " +"the container to make it easier to run the Python interpreter. You can use " +"the following commands to run the Python interpreter:" +msgstr "" +"The container uses the Python interpreter provided by Isaac Sim. This " +"interpreter is located at ``/isaac-sim/python.sh``. We set aliases inside " +"the container to make it easier to run the Python interpreter. You can use " +"the following commands to run the Python interpreter:" + +#: ../../source/deployment/docker.rst:154 +msgid "Understanding the mounted volumes" +msgstr "Understanding the mounted volumes" + +#: ../../source/deployment/docker.rst:156 +msgid "" +"The ``docker-compose.yaml`` file creates several named volumes that are " +"mounted to the container. These are summarized below:" +msgstr "" +"The ``docker-compose.yaml`` file creates several named volumes that are " +"mounted to the container. These are summarized below:" + +#: ../../source/deployment/docker.rst:159 +msgid "" +"``isaac-cache-kit``: This volume is used to store cached Kit resources " +"(`/isaac-sim/kit/cache` in container)" +msgstr "" +"``isaac-cache-kit``: This volume is used to store cached Kit resources " +"(`/isaac-sim/kit/cache` in container)" + +#: ../../source/deployment/docker.rst:160 +msgid "" +"``isaac-cache-ov``: This volume is used to store cached OV resources " +"(`/root/.cache/ov` in container)" +msgstr "" +"``isaac-cache-ov``: This volume is used to store cached OV resources " +"(`/root/.cache/ov` in container)" + +#: ../../source/deployment/docker.rst:161 +msgid "" +"``isaac-cache-pip``: This volume is used to store cached pip resources " +"(`/root/.cache/pip`` in container)" +msgstr "" +"``isaac-cache-pip``: This volume is used to store cached pip resources " +"(`/root/.cache/pip`` in container)" + +#: ../../source/deployment/docker.rst:162 +msgid "" +"``isaac-cache-gl``: This volume is used to store cached GLCache resources " +"(`/root/.cache/nvidia/GLCache` in container)" +msgstr "" +"``isaac-cache-gl``: This volume is used to store cached GLCache resources " +"(`/root/.cache/nvidia/GLCache` in container)" + +#: ../../source/deployment/docker.rst:163 +msgid "" +"``isaac-cache-compute``: This volume is used to store cached compute " +"resources (`/root/.nv/ComputeCache` in container)" +msgstr "" +"``isaac-cache-compute``: This volume is used to store cached compute " +"resources (`/root/.nv/ComputeCache` in container)" + +#: ../../source/deployment/docker.rst:164 +msgid "" +"``isaac-logs``: This volume is used to store logs generated by Omniverse. " +"(`/root/.nvidia-omniverse/logs` in container)" +msgstr "" +"``isaac-logs``: This volume is used to store logs generated by Omniverse. " +"(`/root/.nvidia-omniverse/logs` in container)" + +#: ../../source/deployment/docker.rst:165 +msgid "" +"``isaac-carb-logs``: This volume is used to store logs generated by carb. " +"(`/isaac-sim/kit/logs/Kit/Isaac-Sim` in container)" +msgstr "" +"``isaac-carb-logs``: This volume is used to store logs generated by carb. " +"(`/isaac-sim/kit/logs/Kit/Isaac-Sim` in container)" + +#: ../../source/deployment/docker.rst:166 +msgid "" +"``isaac-data``: This volume is used to store data generated by Omniverse. " +"(`/root/.local/share/ov/data` in container)" +msgstr "" +"``isaac-data``: This volume is used to store data generated by Omniverse. " +"(`/root/.local/share/ov/data` in container)" + +#: ../../source/deployment/docker.rst:167 +msgid "" +"``isaac-docs``: This volume is used to store documents generated by " +"Omniverse. (`/root/Documents` in container)" +msgstr "``isaac-docs``: 用于存储Omniverse生成的文档。（容器中的`/root/Documents`）" + +#: ../../source/deployment/docker.rst:168 +msgid "" +"``isaac-lab-docs``: This volume is used to store documentation of Isaac Lab " +"when built inside the container. (`/workspace/isaaclab/docs/_build` in " +"container)" +msgstr "" +"``isaac-lab-docs``: 在容器内建立Isaac Lab时，用于存储Isaac " +"Lab的文档。（容器中的`/workspace/isaaclab/docs/_build`）" + +#: ../../source/deployment/docker.rst:169 +msgid "" +"``isaac-lab-logs``: This volume is used to store logs generated by Isaac Lab" +" workflows when run inside the container. (`/workspace/isaaclab/logs` in " +"container)" +msgstr "" +"``isaac-lab-logs``: 在容器内运行Isaac Lab工作流时，用于存储Isaac " +"Lab生成的日志。（容器中的`/workspace/isaaclab/logs`）" + +#: ../../source/deployment/docker.rst:170 +msgid "" +"``isaac-lab-data``: This volume is used to store whatever data users may " +"want to preserve between container runs. (`/workspace/isaaclab/data_storage`" +" in container)" +msgstr "" +"``isaac-lab-data``: " +"用于存储用户在容器运行之间希望保留的任何数据。（容器中的`/workspace/isaaclab/data_storage`）" + +#: ../../source/deployment/docker.rst:172 +msgid "" +"To view the contents of these volumes, you can use the following command:" +msgstr "要查看这些卷的内容，可以使用以下命令：" + +#: ../../source/deployment/docker.rst:184 +msgid "Isaac Lab Image Extensions" +msgstr "Isaac Lab图像扩展" + +#: ../../source/deployment/docker.rst:186 +msgid "" +"The produced image depends upon the arguments passed to ``./container.sh " +"start`` and ``./container.sh stop``. These commands accept an " +"``image_extension`` as an additional argument. If no argument is passed, " +"then these commands default to ``base``. Currently, the only valid " +"``image_extension`` arguments are (``base``, ``ros2``). Only one " +"``image_extension`` can be passed at a time, and the produced container will" +" be named ``isaaclab``." +msgstr "" +"生成的图像取决于传递给``./container.sh start``和``./container.sh " +"stop``的参数。这些命令接受``image_extension``作为附加参数。 如果未传递参数，则这些命令默认为``base``。 " +"目前，唯一有效的``image_extension``参数是（``base``, " +"``ros2``）。一次只能传递一个``image_extension``，生成的容器将被命名为``isaaclab``。" + +#: ../../source/deployment/docker.rst:202 +msgid "" +"The passed ``image_extension`` argument will build the image defined in " +"``Dockerfile.${image_extension}``, with the corresponding `profile`_ in the " +"``docker-compose.yaml`` and the envars from ``.env.${image_extension}`` in " +"addition to the ``.env.base``, if any." +msgstr "" +"传递的``image_extension``参数将构建``Dockerfile.${image_extension}``中定义的镜像，以及``docker-" +"compose.yaml``中的相应`profile`_和``.env.${image_extension}``中的环境变量，以及``.env.base``（如果有）。" + +#: ../../source/deployment/docker.rst:207 +msgid "ROS2 Image Extension" +msgstr "ROS2图片扩展" + +#: ../../source/deployment/docker.rst:209 +msgid "" +"In ``Dockerfile.ros2``, the container installs ROS2 Humble via an `apt " +"package`_, and it is sourced in the ``.bashrc``. The exact version is " +"specified by the variable ``ROS_APT_PACKAGE`` in the ``.env.ros2`` file, " +"defaulting to ``ros-base``. Other relevant ROS2 variables are also specified" +" in the ``.env.ros2`` file, including variables defining the `various " +"middleware`_ options. The container defaults to ``FastRTPS``, but " +"``CylconeDDS`` is also supported. Each of these middlewares can be `tuned`_ " +"using their corresponding ``.xml`` files under ``docker/.ros``." +msgstr "" +"在``Dockerfile.ros2``中，容器通过`apt package`_安装ROS2 Humble，并在``.bashrc``中进行源码。 " +"具体版本由``.env.ros2``文件中的变量``ROS_APT_PACKAGE``指定，默认为``ros-base``。 " +"``.env.ros2``文件还指定了其他相关的ROS2变量，包括定义`各种中间件`_选项的变量。 " +"容器默认为``FastRTPS``，但也支持``CylconeDDS``。 " +"每个中间件可以使用``docker/.ros``下的相应的``.xml``文件进行`tuning`_。" + +#: ../../source/deployment/docker.rst:217 +msgid "Known Issues" +msgstr "已知问题" + +#: ../../source/deployment/docker.rst:220 +msgid "Invalid mount config for type \"bind\"" +msgstr "类型“bind”的无效挂载配置" + +#: ../../source/deployment/docker.rst:222 +msgid "If you see the following error when building the container:" +msgstr "如果在构建容器时出现以下错误：" + +#: ../../source/deployment/docker.rst:229 +msgid "" +"This means that the ``.Xauthority`` file is not present in the home " +"directory of the host machine. The portion of the docker-compose.yaml that " +"enables this is commented out by default, so this shouldn't happen unless it" +" has been altered. This file is required for X11 forwarding to work. To fix " +"this, you can create an empty ``.Xauthority`` file in your home directory." +msgstr "" +"这意味着主机机器的主目录中没有``.Xauthority``文件。 docker-" +"compose.yaml中启用此功能的部分默认情况下已经被注释，因此除非它已被更改，否则不应发生。 此文件为使X11转发正常工作所必需。 " +"要修复这个问题，您可以在主目录中创建一个空``.Xauthority``文件。" + +#: ../../source/deployment/docker.rst:238 +msgid "A similar error but requires a different fix:" +msgstr "类似的错误，但需要不同的修复方法：" + +#: ../../source/deployment/docker.rst:245 +msgid "" +"This means that the folder/files are either not present or not accessible on" +" the host machine. The portion of the docker-compose.yaml that enables this " +"is commented out by default, so this shouldn't happen unless it has been " +"altered. This usually happens when you have multiple docker versions " +"installed on your machine. To fix this, you can try the following:" +msgstr "" +"这意味着主机机器上要么缺少文件夹/文件，要么无法访问。 docker-" +"compose.yaml中启用此功能的部分默认情况下已被注释，因此除非它已被更改，否则不应发生。 这通常是由于您在计算机上安装了多个docker版本。 " +"要解决此问题，您可以尝试以下方法：" + +#: ../../source/deployment/docker.rst:250 +msgid "Remove all docker versions from your machine." +msgstr "从您的计算机中删除所有docker版本。" + +#: ../../source/deployment/docker.rst:259 +msgid "" +"Install the latest version of docker based on the instructions in the setup " +"section." +msgstr "根据设置部分中的说明安装最新版本的docker。" + +#: ../../source/deployment/docker.rst:262 +msgid "WebRTC Streaming" +msgstr "WebRTC流" + +#: ../../source/deployment/docker.rst:264 +msgid "" +"When streaming the GUI from Isaac Sim, there are `several streaming " +"clients`_ available. There is a `known issue`_ when attempting to use WebRTC" +" streaming client on Google Chrome and Safari while running Isaac Sim inside" +" a container. To avoid this problem, we suggest using the Native Streaming " +"Client or using the Mozilla Firefox browser on which WebRTC works." +msgstr "" +"当从Isaac Sim中传输GUI时，有`多个传输客户端`_可用。 使用Google Chrome和Safari运行Isaac " +"Sim时，会出现`已知问题`_。 为了避免这个问题，我们建议使用Native Streaming " +"Client或在其上WebRTC可以正常工作的Mozilla Firefox浏览器。" + +#: ../../source/deployment/docker.rst:269 +msgid "" +"Streaming is the only supported method for visualizing the Isaac GUI from " +"within the container. The Omniverse Streaming Client is freely available " +"from the Omniverse app, and is easy to use. The other streaming methods " +"similarly require only a web browser. If users want to use X11 forwarding in" +" order to have the apps behave as local GUI windows, they can uncomment the " +"relevant portions in docker-compose.yaml." +msgstr "" +"从容器内可视化Isaac GUI的唯一支持方法是流式传输。 Omniverse Streaming " +"Client可以免费从Omniverse应用程序中获取，并且易于使用。 其他流传输方法同样只需要一个Web浏览器。 " +"如果用户想要使用X11转发以使应用程序像本地GUI窗口一样运行，可以取消注释docker-compose.yaml中的相关部分。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/deployment/index.po b/docs/locale/zh_CN/LC_MESSAGES/source/deployment/index.po new file mode 100644 index 0000000000..bbf0e326e2 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/deployment/index.po @@ -0,0 +1,53 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/deployment/index.rst:2 +msgid "Container Deployment" +msgstr "容器部署" + +#: ../../source/deployment/index.rst:4 +msgid "" +"Docker is a tool that allows for the creation of containers, which are " +"isolated environments that can be used to run applications. They are useful " +"for ensuring that an application can run on any machine that has Docker " +"installed, regardless of the host machine's operating system or installed " +"libraries." +msgstr "" +"Docker是一种工具，允许创建容器，这些容器是可以用来运行应用程序的隔离环境。它们对于确保应用程序可以在安装了Docker的任何计算机上运行非常有用，而不受主机计算机的操作系统或安装的库的限制。" + +#: ../../source/deployment/index.rst:8 +msgid "" +"We include a Dockerfile and docker-compose.yaml file that can be used to " +"build a Docker image that contains Isaac Lab and all of its dependencies. " +"This image can then be used to run Isaac Lab in a container. The Dockerfile " +"is based on the Isaac Sim image provided by NVIDIA, which includes the " +"Omniverse application launcher and the Isaac Sim application. The Dockerfile" +" installs Isaac Lab and its dependencies on top of this image." +msgstr "" +"我们包括一个Dockerfile和docker-compose.yaml文件，可用于构建包含Isaac " +"Lab及其所有依赖关系的Docker镜像。然后可以使用该镜像在容器中运行Isaac Lab。Dockerfile基于由NVIDIA提供的Isaac " +"Sim镜像，其中包括Omniverse应用程序启动器和Isaac Sim应用程序。Dockerfile在此基础上安装了Isaac Lab及其依赖项。" + +#: ../../source/deployment/index.rst:14 +msgid "" +"The following guides provide instructions for building the Docker image and " +"running Isaac Lab in a container." +msgstr "以下指南提供了构建Docker镜像和在容器中运行Isaac Lab的说明。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/deployment/run_docker_example.po b/docs/locale/zh_CN/LC_MESSAGES/source/deployment/run_docker_example.po new file mode 100644 index 0000000000..b32158ede4 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/deployment/run_docker_example.po @@ -0,0 +1,226 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/deployment/run_docker_example.rst:2 +msgid "Running an example with Docker" +msgstr "在使用Docker运行示例" + +#: ../../source/deployment/run_docker_example.rst:4 +msgid "" +"From the root of the ``Isaac Lab`` repository, the ``docker`` directory " +"contains all the Docker relevant files. These include the three files " +"(**Dockerfile**, **docker-compose.yaml**, **.env**) which are used by " +"Docker, and an additional script that we use to interface with them, " +"**container.sh**." +msgstr "" +"从``Isaac " +"Lab``存储库的根目录开始，``docker``目录包含所有与Docker相关的文件。这些文件包括三个文件（**Dockerfile**，**docker-" +"compose.yaml**，**.env**），这些文件由Docker使用，以及我们用来与它们进行交互的附加脚本，**container.sh**。" + +#: ../../source/deployment/run_docker_example.rst:8 +msgid "" +"In this tutorial, we will learn how to use the Isaac Lab Docker container " +"for development. For a detailed description of the Docker setup, including " +"installation and obtaining access to an Isaac Sim image, please reference " +"the :ref:`deployment-docker`. For a description of Docker in general, please" +" refer to `their official documentation `_." +msgstr "" +"在本教程中，我们将学习如何使用Isaac Lab Docker容器进行开发。有关Docker设置的详细说明，包括安装和获取对Isaac " +"Sim映像的访问权限，请参考：ref：`部署-" +"docker`。有关Docker的一般描述，请参阅`官方文档`_。" + +#: ../../source/deployment/run_docker_example.rst:14 +msgid "Building the Container" +msgstr "构建容器" + +#: ../../source/deployment/run_docker_example.rst:16 +msgid "" +"To build the Isaac Lab container from the root of the Isaac Lab repository, " +"we will run the following:" +msgstr "要从Isaac Lab存储库的根目录构建Isaac Lab容器，我们将运行以下命令：" + +#: ../../source/deployment/run_docker_example.rst:24 +msgid "" +"The terminal will first pull the base IsaacSim image, build the Isaac Lab " +"image's additional layers on top of it, and run the Isaac Lab container. " +"This should take several minutes upon the first build but will be shorter in" +" subsequent runs as Docker's caching prevents repeated work. If we run the " +"command ``docker container ls`` on the terminal, the output will list the " +"containers that are running on the system. If everything has been set up " +"correctly, a container with the ``NAME`` **isaaclab** should appear, similar" +" to below:" +msgstr "" +"终端将首先提取基本的IsaacSim映像，在其上构建Isaac Lab映像的附加层，并运行Isaac " +"Lab容器。第一次构建可能需要几分钟，但在后续运行中将更短，因为Docker的缓存可以防止重复工作。如果我们在终端上运行命令``docker " +"container ls``，输出将列出在系统上运行的容器。如果一切设置正确，将会出现一个名称为**isaaclab**的容器，类似于下面的样子：" + +#: ../../source/deployment/run_docker_example.rst:36 +msgid "" +"Once the container is up and running, we can enter it from our terminal." +msgstr "容器启动后，我们可以从终端进入这个容器" + +#: ../../source/deployment/run_docker_example.rst:43 +msgid "" +"On entering the Isaac Lab container, we are in the terminal as the " +"superuser, ``root``. This environment contains a copy of the Isaac Lab " +"repository, but also has access to the directories and libraries of Isaac " +"Sim. We can run experiments from this environment using a few convenient " +"aliases that have been put into the ``root`` **.bashrc**. For instance, we " +"have made the **isaaclab.sh** script usable from anywhere by typing its " +"alias ``isaaclab``." +msgstr "" +"进入Isaac Lab容器后，我们将作为超级用户``root``进入终端。此环境包含Isaac Lab存储库的副本，还可以访问Isaac " +"Sim的目录和库。我们可以使用一些方便的别名从这个环境中运行实验，这些别名已经放入了``root``**.bashrc** " +"中。例如，我们已经使**isaaclab.sh**脚本通过键入其别名``isaaclab``可以在任何地方使用。" + +#: ../../source/deployment/run_docker_example.rst:48 +msgid "" +"Additionally in the container, we have `bind mounted`_ the " +"``IsaacLab/source`` directory from the host machine. This means that if we " +"modify files under this directory from an editor on the host machine, the " +"changes are reflected immediately within the container without requiring us " +"to rebuild the Docker image." +msgstr "" +"此外，在容器中，我们已经将`IsaacLab/source`目录从主机机器`bind " +"mounted`_到容器中。这意味着如果我们在主机机器上的编辑器中修改了此目录下的文件，则这些更改将立即反映在容器中，而无需重新构建Docker镜像。" + +#: ../../source/deployment/run_docker_example.rst:52 +msgid "" +"We will now run a sample script from within the container to demonstrate how" +" to extract artifacts from the Isaac Lab Docker container." +msgstr "现在，我们将在容器内运行一个样本脚本，以演示如何从Isaac Lab Docker容器中提取工件。" + +#: ../../source/deployment/run_docker_example.rst:56 +msgid "The Code" +msgstr "代码" + +#: ../../source/deployment/run_docker_example.rst:58 +msgid "" +"The tutorial corresponds to the ``log_time.py`` script in the " +"``IsaacLab/source/standalone/tutorials/00_sim`` directory." +msgstr "" +"本教程对应于``IsaacLab/source/standalone/tutorials/00_sim``目录中的``log_time.py``脚本。" + +#: ../../source/deployment/run_docker_example.rst +msgid "Code for log_time.py" +msgstr "log_time.py的代码" + +#: ../../source/deployment/run_docker_example.rst:70 +msgid "The Code Explained" +msgstr "代码的解释" + +#: ../../source/deployment/run_docker_example.rst:72 +msgid "" +"The Isaac Lab Docker container has several `volumes`_ to facilitate " +"persistent storage between the host computer and the container. One such " +"volume is the ``/workspace/isaaclab/logs`` directory. The ``log_time.py`` " +"script designates this directory as the location to which a ``log.txt`` " +"should be written:" +msgstr "" +"Isaac Lab Docker容器具有多个`volumes`_以方便主机计算机和容器之间的持久存储。其中一个卷是``/ workspace / " +"isaaclab / logs``目录。``log_time.py``脚本将此目录指定为写入``log.txt``的位置：" + +#: ../../source/deployment/run_docker_example.rst:82 +msgid "" +"As the comments note, :func:`os.path.abspath()` will prepend " +"``/workspace/isaaclab`` because in the Docker container all python execution" +" is done through ``/workspace/isaaclab/isaaclab.sh``. The output will be a " +"file, ``log.txt``, with the ``sim_time`` written on a newline at every " +"simulation step:" +msgstr "" +"如注释所述，:func:`os.path.abspath()`将在前面添加``/ workspace / " +"isaaclab``，因为在Docker容器中所有python执行都是通过``/ workspace / isaaclab / " +"isaaclab.sh``进行的。输出将是一个文件，``log.txt``，每次模拟步骤都会写入``sim_time``的换行符：" + +#: ../../source/deployment/run_docker_example.rst:93 +msgid "Executing the Script" +msgstr "执行脚本" + +#: ../../source/deployment/run_docker_example.rst:95 +msgid "" +"We will execute the script to produce a log, adding a ``--headless`` flag to" +" our execution to prevent a GUI:" +msgstr "我们将执行脚本以生成日志，添加``--headless``标志以防止GUI：" + +#: ../../source/deployment/run_docker_example.rst:102 +msgid "" +"Now ``log.txt`` will have been produced at " +"``/workspace/isaaclab/logs/docker_tutorial``. If we exit the container by " +"typing ``exit``, we will return to ``IsaacLab/docker`` in our host terminal " +"environment. We can then enter the following command to retrieve our logs " +"from the Docker container and put them on our host machine:" +msgstr "" +"现在，``log.txt``将在``/workspace/isaaclab/logs/docker_tutorial``中生成。如果我们键入``exit``退出容器，我们将返回到主机终端环境中的``IsaacLab/docker``。然后，我们可以输入以下命令从Docker容器中检索日志并将它们放在我们的主机机器上：" + +#: ../../source/deployment/run_docker_example.rst:111 +msgid "" +"We will see a terminal readout reporting the artifacts we have retrieved " +"from the container. If we navigate to " +"``/isaaclab/docker/artifacts/logs/docker_tutorial``, we will see a copy of " +"the ``log.txt`` file which was produced by the script above." +msgstr "" +"我们将看到终端输出报告我们从容器中检索的工件。如果我们导航到``/isaaclab/docker/artifacts/logs/docker_tutorial``，我们将看到上面脚本生成的``log.txt``文件的副本。" + +#: ../../source/deployment/run_docker_example.rst:115 +msgid "" +"Each of the directories under ``artifacts`` corresponds to Docker `volumes`_" +" mapped to directories within the container and the ``container.sh copy`` " +"command copies them from those `volumes`_ to these directories." +msgstr "" +"``artifacts``下的每个目录对应于容器内映射到目录的Docker`volumes`_，``container.sh " +"copy``命令将它们从这些`volumes`_复制到这些目录中。" + +#: ../../source/deployment/run_docker_example.rst:118 +msgid "" +"We could return to the Isaac Lab Docker terminal environment by running " +"``container.sh enter`` again, but we have retrieved our logs and wish to go " +"inspect them. We can stop the Isaac Lab Docker container with the following " +"command:" +msgstr "" +"我们可以通过再次运行``container.sh enter``返回到Isaac Lab " +"Docker终端环境，但我们已经检索到我们的日志并希望去检查它们。我们可以使用以下命令停止Isaac Lab Docker容器：" + +#: ../../source/deployment/run_docker_example.rst:126 +msgid "" +"This will bring down the Docker Isaac Lab container. The image will persist " +"and remain available for further use, as will the contents of any " +"`volumes`_. If we wish to free up the disk space taken by the image, " +"(~20.1GB), and do not mind repeating the build process when we next run " +"``./container.sh start``, we may enter the following command to delete the " +"**isaaclab** image:" +msgstr "" +"这将关闭Docker Isaac " +"Lab容器。镜像将保持存在并继续可用，`volumes`_的内容也将保持存在。如果我们希望释放镜像占用的磁盘空间（~20.1GB），并且不介意在下次运行``./container.sh" +" start``时重复构建过程，则可以键入以下命令来删除**isaaclab**镜像：" + +#: ../../source/deployment/run_docker_example.rst:134 +msgid "" +"A subsequent run of ``docker image ls``` will show that the image tagged " +"**isaaclab** is now gone. We can repeat the process for the underlying " +"NVIDIA container if we wish to free up more space. If a more powerful method" +" of freeing resources from Docker is desired, please consult the " +"documentation for the `docker prune`_ commands." +msgstr "" +"接下来再次运行``docker image " +"ls```将显示标记为**isaaclab**的镜像现在已经消失。如果我们希望释放更多空间，可以对底层的NVIDIA容器执行相同的操作。如果需要一种更强大的从Docker释放资源的方法，请查阅`docker" +" prune`_命令的文档。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/features/actuators.po b/docs/locale/zh_CN/LC_MESSAGES/source/features/actuators.po new file mode 100644 index 0000000000..603192d619 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/features/actuators.po @@ -0,0 +1,156 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/features/actuators.rst:5 +msgid "Actuators" +msgstr "执行器" + +#: ../../source/features/actuators.rst:7 +msgid "" +"An articulated system comprises of actuated joints, also called the degrees " +"of freedom (DOF). In a physical system, the actuation typically happens " +"either through active components, such as electric or hydraulic motors, or " +"passive components, such as springs. These components can introduce certain " +"non-linear characteristics which includes delays or maximum producible " +"velocity or torque." +msgstr "" +"一个可移动的系统包括执行关节，也称为自由度（DOF）。在实际系统中，传动通常通过主动部件，如电动或液压马达，或通过被动部件，如弹簧来实现。这些部件可能会引入某些非线性特征，包括延迟或最大可产生的速度或扭矩。" + +#: ../../source/features/actuators.rst:12 +msgid "" +"In simulation, the joints are either position, velocity, or torque-" +"controlled. For position and velocity control, the physics engine internally" +" implements a spring-damp (PD) controller which computes the torques applied" +" on the actuated joints. In torque-control, the commands are set directly as" +" the joint efforts. While this mimics an ideal behavior of the joint " +"mechanism, it does not truly model how the drives work in the physical " +"world. Thus, we provide a mechanism to inject external models to compute the" +" joint commands that would represent the physical robot's behavior." +msgstr "" +"在模拟中，关节可以是位置、速度或扭矩控制的。对于位置和速度控制，物理引擎在内部实现了一个弹簧阻尼（PD）控制器，用于计算作用在执行关节上的扭矩。在扭矩控制中，命令直接设置为关节作用力。虽然这模拟了关节机构的理想行为，但并不真正模拟驱动在物理世界中的工作方式。因此，我们提供了一种机制来注入外部模型，以计算关节命令，以代表物理机器人的行为。" + +#: ../../source/features/actuators.rst:20 +msgid "Actuator models" +msgstr "执行器模型" + +#: ../../source/features/actuators.rst:22 +msgid "We name two different types of actuator models:" +msgstr "我们命名了两种不同类型的执行器模型：" + +#: ../../source/features/actuators.rst:24 +msgid "" +"**implicit**: corresponds to the ideal simulation mechanism (provided by " +"physics engine)." +msgstr "**隐式**：对应于理想的模拟机制（由物理引擎提供）。" + +#: ../../source/features/actuators.rst:25 +msgid "" +"**explicit**: corresponds to external drive models (implemented by user)." +msgstr "**显式**：对应于外部驱动模型（由用户实现）。" + +#: ../../source/features/actuators.rst:27 +msgid "" +"The explicit actuator model performs two steps: 1) it computes the desired " +"joint torques for tracking the input commands, and 2) it clips the desired " +"torques based on the motor capabilities. The clipped torques are the desired" +" actuation efforts that are set into the simulation." +msgstr "" +"显式执行器模型包括两个步骤：1）计算跟踪输入命令的期望关节扭矩，2）根据电机能力对期望扭矩进行裁剪。裁剪后的扭矩是设置到模拟中的期望作用力。" + +#: ../../source/features/actuators.rst:31 +msgid "" +"As an example of an ideal explicit actuator model, we provide the " +":class:`omni.isaac.lab.actuators.IdealPDActuator` class, which implements a " +"PD controller with feed-forward effort, and simple clipping based on the " +"configured maximum effort:" +msgstr "" +"作为理想显式执行器模型的一个示例，我们提供了 :class:`omni.isaac.lab.actuators.IdealPDActuator` " +"类，它实现了一个带前馈作用的PD控制器，并根据配置的最大作用力进行简单裁剪：" + +#: ../../source/features/actuators.rst:35 +msgid "" +"\\tau_{j, computed} & = k_p * (q - q_{des}) + k_d * (\\dot{q} - \\dot{q}_{des}) + \\tau_{ff} \\\\\n" +"\\tau_{j, applied} & = clip(\\tau_{computed}, -\\tau_{j, max}, \\tau_{j, max})" +msgstr "" +"τ_{j, computed} = k_p * (q - q_{des}) + k_d * (\\dot{q} - \\dot{q}_{des}) + " +"τ_{ff}" + +#: ../../source/features/actuators.rst:41 +msgid "" +"where, :math:`k_p` and :math:`k_d` are joint stiffness and damping gains, " +":math:`q` and :math:`\\dot{q}` are the current joint positions and " +"velocities, :math:`q_{des}`, :math:`\\dot{q}_{des}` and :math:`\\tau_{ff}` " +"are the desired joint positions, velocities and torques commands. The " +"parameters :math:`\\gamma` and :math:`\\tau_{motor, max}` are the gear box " +"ratio and the maximum motor effort possible." +msgstr "" +"其中，:math:`k_p` 和 :math:`k_d` 是关节刚度和阻尼增益，:math:`q` 和 :math:`\\dot{q}` " +"是当前关节位置和速度，:math:`q_{des}`、:math:`\\dot{q}_{des}` 和 :math:`τ_{ff}` " +"是期望的关节位置、速度和扭矩命令。参数 :math:`\\gamma` 和 :math:`τ_{motor, max}` 是变速箱比和电机的最大作用力。" + +#: ../../source/features/actuators.rst:47 +msgid "Actuator groups" +msgstr "执行器组" + +#: ../../source/features/actuators.rst:49 +msgid "" +"The actuator models by themselves are computational blocks that take as " +"inputs the desired joint commands and output the joint commands to apply " +"into the simulator. They do not contain any knowledge about the joints they " +"are acting on themselves. These are handled by the " +":class:`omni.isaac.lab.assets.Articulation` class, which wraps around the " +"physics engine's articulation class." +msgstr "" +"执行器模型本身是计算单元，它们的输入是期望的关节命令，输出是应用到模拟器中的关节命令。它们不包含任何关于它们本身所作用的关节的知识。这些由 " +":class:`omni.isaac.lab.assets.Articulation` 类处理，它包装了物理引擎的关节类。" + +#: ../../source/features/actuators.rst:54 +msgid "" +"Actuator are collected as a set of actuated joints on an articulation that " +"are using the same actuator model. For instance, the quadruped, ANYmal-C, " +"uses series elastic actuator, ANYdrive 3.0, for all its joints. This " +"grouping configures the actuator model for those joints, translates the " +"input commands to the joint level commands, and returns the articulation " +"action to set into the simulator. Having an arm with a different actuator " +"model, such as a DC motor, would require configuring a different actuator " +"group." +msgstr "" +"执行器被视为在关节机构上使用相同执行器模型的多个执行关节的集合。例如，ANYmal-C四足机器人使用串联弹性执行器 ANYdrive 3.0 " +"来作用于其所有关节。这种分组配置了这些关节的执行器模型，将输入命令转换为关节级别的命令，并返回设置到模拟器中的关节动作。具有不同执行器模型的手臂，如直流电机，将需要配置一个不同的执行器组。" + +#: ../../source/features/actuators.rst:60 +msgid "" +"The following figure shows the actuator groups for a legged mobile " +"manipulator:" +msgstr "下图显示了一个腿式移动操作器的执行器组：" + +#: ../../source/features/actuators.rst:-1 +msgid "Actuator models for a legged mobile manipulator" +msgstr "腿式移动操作器的执行器模型" + +#: ../../source/features/actuators.rst:76 +msgid "" +"We provide implementations for various explicit actuator models. These are " +"detailed in `omni.isaac.lab.actuators " +"<../api/lab/omni.isaac.lab.actuators.html>`_ sub-package." +msgstr "" +"我们为各种显式执行器模型提供了实现。这些详细信息在 `omni.isaac.lab.actuators " +"<../api/lab/omni.isaac.lab.actuators.html>`_ 子包中。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/features/environments.po b/docs/locale/zh_CN/LC_MESSAGES/source/features/environments.po new file mode 100644 index 0000000000..a5d38dc445 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/features/environments.po @@ -0,0 +1,602 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/features/environments.rst:2 +msgid "Environments" +msgstr "环境" + +#: ../../source/features/environments.rst:4 +msgid "" +"The following lists comprises of all the RL tasks implementations that are " +"available in Isaac Lab. While we try to keep this list up-to-date, you can " +"always get the latest list of environments by running the following command:" +msgstr "以下列表包括Isaac实验室中所有可用的RL任务实现。虽然我们会尽量保持此列表更新，您可以随时通过运行以下命令获取最新的环境列表：" + +#: ../../source/features/environments.rst:12 +msgid "" +"We are actively working on adding more environments to the list. If you have" +" any environments that you would like to add to Isaac Lab, please feel free " +"to open a pull request!" +msgstr "我们正在积极添加更多环境到列表中。如果您有任何想要添加到Isaac Lab的环境，请随时提交pull请求！" + +#: ../../source/features/environments.rst:16 +msgid "Classic" +msgstr "经典" + +#: ../../source/features/environments.rst:18 +msgid "" +"Classic environments that are based on IsaacGymEnvs implementation of " +"MuJoCo-style environments." +msgstr "基于MuJoCo风格环境的IsaacGymEnvs实现的经典环境。" + +#: ../../source/features/environments.rst:25 +#: ../../source/features/environments.rst:70 +#: ../../source/features/environments.rst:115 +#: ../../source/features/environments.rst:209 +#: ../../source/features/environments.rst:226 +msgid "World" +msgstr "世界" + +#: ../../source/features/environments.rst:25 +#: ../../source/features/environments.rst:70 +#: ../../source/features/environments.rst:115 +#: ../../source/features/environments.rst:209 +#: ../../source/features/environments.rst:226 +msgid "Environment ID" +msgstr "环境ID" + +#: ../../source/features/environments.rst:25 +#: ../../source/features/environments.rst:70 +#: ../../source/features/environments.rst:115 +#: ../../source/features/environments.rst:209 +#: ../../source/features/environments.rst:226 +msgid "Description" +msgstr "描述" + +#: ../../source/features/environments.rst:27 +msgid "|humanoid|" +msgstr "|人形机器人|" + +#: ../../source/features/environments.rst:39 +msgid "humanoid" +msgstr "人形机器人" + +#: ../../source/features/environments.rst +msgid "|humanoid-link|" +msgstr "|人形机器人链接|" + +#: ../../source/features/environments.rst +msgid "|humanoid-direct-link|" +msgstr "|人形机器人直连|" + +#: ../../source/features/environments.rst:27 +msgid "Move towards a direction with the MuJoCo humanoid robot" +msgstr "通过MuJoCo人形机器人朝特定方向移动" + +#: ../../source/features/environments.rst:30 +msgid "|ant|" +msgstr "|蚂蚁|" + +#: ../../source/features/environments.rst:40 +msgid "ant" +msgstr "蚂蚁" + +#: ../../source/features/environments.rst +msgid "|ant-link|" +msgstr "|蚂蚁链接|" + +#: ../../source/features/environments.rst +msgid "|ant-direct-link|" +msgstr "|蚂蚁直连|" + +#: ../../source/features/environments.rst:30 +msgid "Move towards a direction with the MuJoCo ant robot" +msgstr "通过MuJoCo蚂蚁朝特定方向移动" + +#: ../../source/features/environments.rst:33 +msgid "|cartpole|" +msgstr "|倒立摆|" + +#: ../../source/features/environments.rst:41 +msgid "cartpole" +msgstr "倒立摆" + +#: ../../source/features/environments.rst +msgid "|cartpole-link|" +msgstr "|倒立摆链接|" + +#: ../../source/features/environments.rst +msgid "|cartpole-direct-link|" +msgstr "|倒立摆直连|" + +#: ../../source/features/environments.rst +msgid "|cartpole-camera-rgb-link|" +msgstr "|倒立摆相机RGB链接|" + +#: ../../source/features/environments.rst +msgid "|cartpole-camera-dpt-link|" +msgstr "|倒立摆相机DPT链接|" + +#: ../../source/features/environments.rst:33 +msgid "Move the cart to keep the pole upwards in the classic cartpole control" +msgstr "使小车保持倒立架起的经典倒立摆控制" + +#: ../../source/features/environments.rst:55 +msgid "Manipulation" +msgstr "操作" + +#: ../../source/features/environments.rst:57 +msgid "Environments based on fixed-arm manipulation tasks." +msgstr "基于固定臂操作任务的环境。" + +#: ../../source/features/environments.rst:59 +msgid "" +"For many of these tasks, we include configurations with different arm action" +" spaces. For example, for the reach environment:" +msgstr "对于这些任务中的许多任务，我们包括不同臂动作空间的配置。例如，对于达到环境：" + +#: ../../source/features/environments.rst:62 +msgid "|lift-cube-link|: Franka arm with joint position control" +msgstr "|举起立方体链接|：Franka臂带有关节位置控制" + +#: ../../source/features/environments.rst:63 +msgid "|lift-cube-ik-abs-link|: Franka arm with absolute IK control" +msgstr "|举起立方体IK绝对链接|：Franka臂带有绝对IK控制" + +#: ../../source/features/environments.rst:64 +msgid "|lift-cube-ik-rel-link|: Franka arm with relative IK control" +msgstr "|举起立方体IK相对链接|：Franka臂带有相对IK控制" + +#: ../../source/features/environments.rst:72 +msgid "|reach-franka|" +msgstr "|达到Franka|" + +#: ../../source/features/environments.rst:87 +msgid "reach-franka" +msgstr "达到Franka" + +#: ../../source/features/environments.rst:72 +msgid "|reach-franka-link|" +msgstr "|达到Franka链接|" + +#: ../../source/features/environments.rst:72 +msgid "Move the end-effector to a sampled target pose with the Franka robot" +msgstr "用Franka机器人将末端执行器移动到抽样目标姿态" + +#: ../../source/features/environments.rst:74 +msgid "|reach-ur10|" +msgstr "|达到UR10|" + +#: ../../source/features/environments.rst:88 +msgid "reach-ur10" +msgstr "达到UR10" + +#: ../../source/features/environments.rst:74 +msgid "|reach-ur10-link|" +msgstr "|达到UR10链接|" + +#: ../../source/features/environments.rst:74 +msgid "Move the end-effector to a sampled target pose with the UR10 robot" +msgstr "用UR10机器人将末端执行器移动到抽样目标姿态" + +#: ../../source/features/environments.rst:76 +msgid "|lift-cube|" +msgstr "|举起立方体|" + +#: ../../source/features/environments.rst:89 +msgid "lift-cube" +msgstr "举起立方体" + +#: ../../source/features/environments.rst:76 +msgid "|lift-cube-link|" +msgstr "|举起立方体链接|" + +#: ../../source/features/environments.rst:76 +msgid "" +"Pick a cube and bring it to a sampled target position with the Franka robot" +msgstr "用Franka机器人拾取一个立方体并将其移到抽样的目标位置" + +#: ../../source/features/environments.rst:78 +msgid "|cabi-franka|" +msgstr "|抽屉-Franka|" + +#: ../../source/features/environments.rst:90 +msgid "cabi-franka" +msgstr "抽屉-Franka" + +#: ../../source/features/environments.rst:78 +msgid "|cabi-franka-link|" +msgstr "|抽屉-Franka链接|" + +#: ../../source/features/environments.rst:78 +msgid "" +"Grasp the handle of a cabinet's drawer and open it with the Franka robot" +msgstr "用Franka机器人抓住柜子抽屉的把手并将其打开" + +#: ../../source/features/environments.rst:80 +msgid "|cube-allegro|" +msgstr "|立方 allegro|" + +#: ../../source/features/environments.rst:91 +msgid "cube-allegro" +msgstr "立方 allegro" + +#: ../../source/features/environments.rst:80 +msgid "|cube-allegro-link|" +msgstr "|立方 allegro-link|" + +#: ../../source/features/environments.rst:80 +msgid "In-hand reorientation of a cube using Allegro hand" +msgstr "手持 Allegro 手进行立方体重定向" + +#: ../../source/features/environments.rst:82 +msgid "|cube-shadow|" +msgstr "|cube-shadow|" + +#: ../../source/features/environments.rst:92 +msgid "cube-shadow" +msgstr "cube-shadow" + +#: ../../source/features/environments.rst +msgid "|cube-shadow-link|" +msgstr "|cube-shadow-link|" + +#: ../../source/features/environments.rst +msgid "|cube-shadow-ff-link|" +msgstr "|cube-shadow-ff-link|" + +#: ../../source/features/environments.rst +msgid "|cube-shadow-lstm-link|" +msgstr "|cube-shadow-lstm-link|" + +#: ../../source/features/environments.rst:82 +msgid "In-hand reorientation of a cube using Shadow hand" +msgstr "手持 Shadow 手进行立方体重定向" + +#: ../../source/features/environments.rst:107 +msgid "Locomotion" +msgstr "行走" + +#: ../../source/features/environments.rst:109 +msgid "Environments based on legged locomotion tasks." +msgstr "基于腿部运动的环境任务" + +#: ../../source/features/environments.rst:117 +msgid "|velocity-flat-anymal-b|" +msgstr "|velocity-flat-anymal-b|" + +#: ../../source/features/environments.rst:184 +msgid "velocity-flat-anymal-b" +msgstr "velocity-flat-anymal-b" + +#: ../../source/features/environments.rst:117 +msgid "|velocity-flat-anymal-b-link|" +msgstr "|velocity-flat-anymal-b-link|" + +#: ../../source/features/environments.rst:117 +msgid "Track a velocity command on flat terrain with the Anymal B robot" +msgstr "使用 Anymal B 机器人在平坦地形上跟踪速度命令" + +#: ../../source/features/environments.rst:119 +msgid "|velocity-rough-anymal-b|" +msgstr "|velocity-rough-anymal-b|" + +#: ../../source/features/environments.rst:185 +msgid "velocity-rough-anymal-b" +msgstr "velocity-rough-anymal-b" + +#: ../../source/features/environments.rst:119 +msgid "|velocity-rough-anymal-b-link|" +msgstr "|velocity-rough-anymal-b-link|" + +#: ../../source/features/environments.rst:119 +msgid "Track a velocity command on rough terrain with the Anymal B robot" +msgstr "使用 Anymal B 机器人在崎岖地形上跟踪速度命令" + +#: ../../source/features/environments.rst:121 +msgid "|velocity-flat-anymal-c|" +msgstr "|velocity-flat-anymal-c|" + +#: ../../source/features/environments.rst:186 +msgid "velocity-flat-anymal-c" +msgstr "velocity-flat-anymal-c" + +#: ../../source/features/environments.rst +msgid "|velocity-flat-anymal-c-link|" +msgstr "|velocity-flat-anymal-c-link|" + +#: ../../source/features/environments.rst +msgid "|velocity-flat-anymal-c-direct-link|" +msgstr "|velocity-flat-anymal-c-direct-link|" + +#: ../../source/features/environments.rst:121 +msgid "Track a velocity command on flat terrain with the Anymal C robot" +msgstr "使用 Anymal C 机器人在平坦地形上跟踪速度命令" + +#: ../../source/features/environments.rst:124 +msgid "|velocity-rough-anymal-c|" +msgstr "|velocity-rough-anymal-c|" + +#: ../../source/features/environments.rst:187 +msgid "velocity-rough-anymal-c" +msgstr "velocity-rough-anymal-c" + +#: ../../source/features/environments.rst +msgid "|velocity-rough-anymal-c-link|" +msgstr "|velocity-rough-anymal-c-link|" + +#: ../../source/features/environments.rst +msgid "|velocity-rough-anymal-c-direct-link|" +msgstr "|velocity-rough-anymal-c-direct-link|" + +#: ../../source/features/environments.rst:124 +msgid "Track a velocity command on rough terrain with the Anymal C robot" +msgstr "使用 Anymal C 机器人在崎岖地形上跟踪速度命令" + +#: ../../source/features/environments.rst:127 +msgid "|velocity-flat-anymal-d|" +msgstr "|velocity-flat-anymal-d|" + +#: ../../source/features/environments.rst:188 +msgid "velocity-flat-anymal-d" +msgstr "velocity-flat-anymal-d" + +#: ../../source/features/environments.rst:127 +msgid "|velocity-flat-anymal-d-link|" +msgstr "|velocity-flat-anymal-d-link|" + +#: ../../source/features/environments.rst:127 +msgid "Track a velocity command on flat terrain with the Anymal D robot" +msgstr "使用 Anymal D 机器人在平坦地形上跟踪速度命令" + +#: ../../source/features/environments.rst:129 +msgid "|velocity-rough-anymal-d|" +msgstr "|velocity-rough-anymal-d|" + +#: ../../source/features/environments.rst:189 +msgid "velocity-rough-anymal-d" +msgstr "velocity-rough-anymal-d" + +#: ../../source/features/environments.rst:129 +msgid "|velocity-rough-anymal-d-link|" +msgstr "|velocity-rough-anymal-d-link|" + +#: ../../source/features/environments.rst:129 +msgid "Track a velocity command on rough terrain with the Anymal D robot" +msgstr "使用 Anymal D 机器人在崎岖地形上跟踪速度命令" + +#: ../../source/features/environments.rst:131 +msgid "|velocity-flat-unitree-a1|" +msgstr "|velocity-flat-unitree-a1|" + +#: ../../source/features/environments.rst:190 +msgid "velocity-flat-unitree-a1" +msgstr "velocity-flat-unitree-a1" + +#: ../../source/features/environments.rst:131 +msgid "|velocity-flat-unitree-a1-link|" +msgstr "|velocity-flat-unitree-a1-link|" + +#: ../../source/features/environments.rst:131 +msgid "Track a velocity command on flat terrain with the Unitree A1 robot" +msgstr "使用 Unitree A1 机器人在平坦地形上跟踪速度命令" + +#: ../../source/features/environments.rst:133 +msgid "|velocity-rough-unitree-a1|" +msgstr "|velocity-rough-unitree-a1|" + +#: ../../source/features/environments.rst:191 +msgid "velocity-rough-unitree-a1" +msgstr "velocity-rough-unitree-a1" + +#: ../../source/features/environments.rst:133 +msgid "|velocity-rough-unitree-a1-link|" +msgstr "|velocity-rough-unitree-a1-link|" + +#: ../../source/features/environments.rst:133 +msgid "Track a velocity command on rough terrain with the Unitree A1 robot" +msgstr "使用 Unitree A1 机器人在崎岖地形上跟踪速度命令" + +#: ../../source/features/environments.rst:135 +msgid "|velocity-flat-unitree-go1|" +msgstr "|velocity-flat-unitree-go1|" + +#: ../../source/features/environments.rst:192 +msgid "velocity-flat-unitree-go1" +msgstr "velocity-flat-unitree-go1" + +#: ../../source/features/environments.rst:135 +msgid "|velocity-flat-unitree-go1-link|" +msgstr "|velocity-flat-unitree-go1-link|" + +#: ../../source/features/environments.rst:135 +msgid "Track a velocity command on flat terrain with the Unitree Go1 robot" +msgstr "使用 Unitree Go1 机器人在平坦地形上跟踪速度命令" + +#: ../../source/features/environments.rst:137 +msgid "|velocity-rough-unitree-go1|" +msgstr "|velocity-rough-unitree-go1|" + +#: ../../source/features/environments.rst:193 +msgid "velocity-rough-unitree-go1" +msgstr "velocity-rough-unitree-go1" + +#: ../../source/features/environments.rst:137 +msgid "|velocity-rough-unitree-go1-link|" +msgstr "|velocity-rough-unitree-go1-link|" + +#: ../../source/features/environments.rst:137 +msgid "Track a velocity command on rough terrain with the Unitree Go1 robot" +msgstr "在崎岖地形上追踪Unitree Go1机器人的速度指令" + +#: ../../source/features/environments.rst:139 +msgid "|velocity-flat-unitree-go2|" +msgstr "|velocity-flat-unitree-go2|" + +#: ../../source/features/environments.rst:194 +msgid "velocity-flat-unitree-go2" +msgstr "velocity-flat-unitree-go2" + +#: ../../source/features/environments.rst:139 +msgid "|velocity-flat-unitree-go2-link|" +msgstr "|velocity-flat-unitree-go2-link|" + +#: ../../source/features/environments.rst:139 +msgid "Track a velocity command on flat terrain with the Unitree Go2 robot" +msgstr "在平坦地形上追踪Unitree Go2机器人的速度指令" + +#: ../../source/features/environments.rst:141 +msgid "|velocity-rough-unitree-go2|" +msgstr "|velocity-rough-unitree-go2|" + +#: ../../source/features/environments.rst:195 +msgid "velocity-rough-unitree-go2" +msgstr "velocity-rough-unitree-go2" + +#: ../../source/features/environments.rst:141 +msgid "|velocity-rough-unitree-go2-link|" +msgstr "|velocity-rough-unitree-go2-link|" + +#: ../../source/features/environments.rst:141 +msgid "Track a velocity command on rough terrain with the Unitree Go2 robot" +msgstr "在崎岖地形上追踪Unitree Go2机器人的速度指令" + +#: ../../source/features/environments.rst:143 +msgid "|velocity-flat-spot|" +msgstr "|velocity-flat-spot|" + +#: ../../source/features/environments.rst:196 +msgid "velocity-flat-spot" +msgstr "velocity-flat-spot" + +#: ../../source/features/environments.rst:143 +msgid "|velocity-flat-spot-link|" +msgstr "|velocity-flat-spot-link|" + +#: ../../source/features/environments.rst:143 +msgid "" +"Track a velocity command on flat terrain with the Boston Dynamics Spot robot" +msgstr "在平坦地形上追踪波士顿动力机器狗Spot机器人的速度指令" + +#: ../../source/features/environments.rst:145 +msgid "|velocity-flat-h1|" +msgstr "|velocity-flat-h1|" + +#: ../../source/features/environments.rst:197 +msgid "velocity-flat-h1" +msgstr "velocity-flat-h1" + +#: ../../source/features/environments.rst:145 +msgid "|velocity-flat-h1-link|" +msgstr "|velocity-flat-h1-link|" + +#: ../../source/features/environments.rst:145 +msgid "Track a velocity command on flat terrain with the Unitree H1 robot" +msgstr "在平坦地形上追踪Unitree H1机器人的速度指令" + +#: ../../source/features/environments.rst:147 +msgid "|velocity-rough-h1|" +msgstr "|velocity-rough-h1|" + +#: ../../source/features/environments.rst:198 +msgid "velocity-rough-h1" +msgstr "velocity-rough-h1" + +#: ../../source/features/environments.rst:147 +msgid "|velocity-rough-h1-link|" +msgstr "|velocity-rough-h1-link|" + +#: ../../source/features/environments.rst:147 +msgid "Track a velocity command on rough terrain with the Unitree H1 robot" +msgstr "在崎岖地形上追踪Unitree H1机器人的速度指令" + +#: ../../source/features/environments.rst:149 +msgid "|velocity-flat-g1|" +msgstr "|velocity-flat-g1|" + +#: ../../source/features/environments.rst:199 +msgid "velocity-flat-g1" +msgstr "velocity-flat-g1" + +#: ../../source/features/environments.rst:149 +msgid "|velocity-flat-g1-link|" +msgstr "|velocity-flat-g1-link|" + +#: ../../source/features/environments.rst:149 +msgid "Track a velocity command on flat terrain with the Unitree G1 robot" +msgstr "在平坦地形上追踪Unitree G1机器人的速度指令" + +#: ../../source/features/environments.rst:151 +msgid "|velocity-rough-g1|" +msgstr "|velocity-rough-g1|" + +#: ../../source/features/environments.rst:200 +msgid "velocity-rough-g1" +msgstr "velocity-rough-g1" + +#: ../../source/features/environments.rst:151 +msgid "|velocity-rough-g1-link|" +msgstr "|velocity-rough-g1-link|" + +#: ../../source/features/environments.rst:151 +msgid "Track a velocity command on rough terrain with the Unitree G1 robot" +msgstr "在崎岖地形上追踪Unitree G1机器人的速度指令" + +#: ../../source/features/environments.rst:203 +msgid "Navigation" +msgstr "导航" + +#: ../../source/features/environments.rst:211 +msgid "|anymal_c_nav|" +msgstr "|anymal_c_nav|" + +#: ../../source/features/environments.rst:216 +msgid "anymal_c_nav" +msgstr "anymal_c_nav" + +#: ../../source/features/environments.rst:211 +msgid "|anymal_c_nav-link|" +msgstr "|anymal_c_nav-link|" + +#: ../../source/features/environments.rst:211 +msgid "" +"Navigate towards a target x-y position and heading with the ANYmal C robot." +msgstr "使用ANYmal C机器人向目标x-y位置和朝向导航" + +#: ../../source/features/environments.rst:220 +msgid "Others" +msgstr "其他" + +#: ../../source/features/environments.rst:228 +msgid "|quadcopter|" +msgstr "|quadcopter|" + +#: ../../source/features/environments.rst:234 +msgid "quadcopter" +msgstr "quadcopter" + +#: ../../source/features/environments.rst:228 +msgid "|quadcopter-link|" +msgstr "|quadcopter-link|" + +#: ../../source/features/environments.rst:228 +msgid "Fly and hover the Crazyflie copter at a goal point by applying thrust." +msgstr "通过推力在目标点飞行并悬停Crazyflie直升飞机" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/features/motion_generators.po b/docs/locale/zh_CN/LC_MESSAGES/source/features/motion_generators.po new file mode 100644 index 0000000000..1ab6c74217 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/features/motion_generators.po @@ -0,0 +1,436 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/features/motion_generators.rst:2 +msgid "Motion Generators" +msgstr "运动发生器" + +#: ../../source/features/motion_generators.rst:4 +msgid "" +"Robotic tasks are typically defined in task-space in terms of desired end-" +"effector trajectory, while control actions are executed in the joint-space. " +"This naturally leads to *joint-space* and *task-space* (operational-space) " +"control methods. However, successful execution of interaction tasks using " +"motion control often requires an accurate model of both the robot " +"manipulator as well as its environment. While a sufficiently precise " +"manipulator's model might be known, detailed description of environment is " +"hard to obtain :cite:p:`siciliano2009force`. Planning errors caused by this " +"mismatch can be overcome by introducing a *compliant* behavior during " +"interaction." +msgstr "" +"机器人任务通常以期望的末端执行器轨迹在任务空间中定义，而控制动作则在关节空间中执行。这自然地导致了 *关节空间* 和 *任务空间* (操作空间) " +"控制方法。然而，成功执行使用运动控制的交互任务通常需要准确的机器人手臂模型以及其环境的模型。虽然可能已知足够精确的机械手模型，但很难获得环境的详细描述 " +":cite:p:`siciliano2009force`。规划错误由此不匹配可能可以通过引入在交互期间的*顺应*行为来克服。" + +#: ../../source/features/motion_generators.rst:15 +msgid "" +"While compliance is achievable passively through robot's structure (such as " +"elastic actuators, soft robot arms), we are more interested in controller " +"designs that focus on active interaction control. These are broadly " +"categorized into:" +msgstr "虽然通过机器人的结构（例如弹性执行器、软机器人手臂）被动地实现了顺应，但我们更感兴趣的是侧重于主动交互控制的控制器设计。这些广泛地分为：" + +#: ../../source/features/motion_generators.rst:20 +msgid "" +"**impedance control:** indirect control method where motion deviations " +"caused during interaction relates to contact force as a mass-spring-damper " +"system with adjustable parameters (stiffness and damping). A specialized " +"case of this is *stiffness* control where only the static relationship " +"between position error and contact force is considered." +msgstr "" +"**阻抗控制:** 在此间接控制方法中，交互期间引起的运动偏差与可调参数（刚度和阻尼）的质量-弹簧-" +"阻尼系统有关。此的一个专门情况是*刚度*控制，其中仅考虑位置误差和接触力之间的静态关系。" + +#: ../../source/features/motion_generators.rst:26 +msgid "" +"**hybrid force/motion control:** active control method which controls motion" +" and force along unconstrained and constrained task directions respectively." +" Among the various schemes for hybrid motion control, the provided " +"implementation is based on inverse dynamics control in the operational space" +" :cite:p:`khatib1987osc`." +msgstr "" +"**混合力/运动控制:** 主动控制方法，沿着无约束和约束任务方向分别控制运动和力。在混合运动控制的各种方案中，提供的实施是基于操作空间中的逆动力学控制" +" :cite:p:`khatib1987osc`。" + +#: ../../source/features/motion_generators.rst:33 +msgid "" +"To provide an even broader set of motion generators, we welcome " +"contributions from the community. If you are interested, please open an " +"issue to start a discussion!" +msgstr "为了提供更广泛的运动产生器，我们欢迎社区的贡献。如果您有兴趣，请打开一个议题来开始讨论！" + +#: ../../source/features/motion_generators.rst:38 +msgid "Joint-space controllers" +msgstr "关节空间控制" + +#: ../../source/features/motion_generators.rst:41 +msgid "Torque control" +msgstr "力矩控制" + +#: ../../source/features/motion_generators.rst:43 +#: ../../source/features/motion_generators.rst:59 +#: ../../source/features/motion_generators.rst:82 +msgid "Action dimensions: ``\"n\"`` (number of joints)" +msgstr "动作维度：``\"n\"``（关节数量）" + +#: ../../source/features/motion_generators.rst:45 +msgid "" +"In torque control mode, the input actions are directly set as feed-forward " +"joint torque commands, i.e. at every time-step," +msgstr "在力矩控制模式下，输入动作直接设置为前馈关节力矩命令，即在每个时间步长，" + +#: ../../source/features/motion_generators.rst:48 +msgid "\\tau = \\tau_{des}" +msgstr "\\tau = \\tau_{des}" + +#: ../../source/features/motion_generators.rst:52 +msgid "" +"Thus, this control mode is achievable by setting the command type for the " +"actuator group, via the :class:`ActuatorControlCfg` class, to ``\"t_abs\"``." +msgstr "" +"因此，通过将执行器组的命令类型设置为 ``\"t_abs\"``，可以实现该控制模式，通过 :class:`ActuatorControlCfg` 类。" + +#: ../../source/features/motion_generators.rst:57 +msgid "Velocity control" +msgstr "速度控制" + +#: ../../source/features/motion_generators.rst:61 +msgid "" +"In velocity control mode, a proportional control law is required to reduce " +"the error between the current and desired joint velocities. Based on input " +"actions, the joint torques commands are computed as:" +msgstr "在速度控制模式下，需要比例控制定律来减少当前和期望关节速度之间的误差。根据输入动作，关节力矩指令计算如下：" + +#: ../../source/features/motion_generators.rst:64 +msgid "\\tau = k_d (\\dot{q}_{des} - \\dot{q})" +msgstr "\\tau = k_d (\\dot{q}_{des} - \\dot{q})" + +#: ../../source/features/motion_generators.rst:68 +msgid "where :math:`k_d` are the gains parsed from configuration." +msgstr "其中:math:`k_d`是从配置解析的增益。" + +#: ../../source/features/motion_generators.rst:70 +msgid "" +"This control mode is achievable by setting the command type for the actuator" +" group, via the :class:`ActuatorControlCfg` class, to ``\"v_abs\"`` or " +"``\"v_rel\"``." +msgstr "" +"通过将执行器组的命令类型设置为 ``\"v_abs\"`` 或 ``\"v_rel\"``类，可以实现该控制模式，通过 " +":class:`ActuatorControlCfg` 类。" + +#: ../../source/features/motion_generators.rst:75 +msgid "" +"While performing velocity control, in many cases, gravity compensation is " +"required to ensure better tracking of the command. In this case, we suggest " +"disabling gravity for the links in the articulation in simulation." +msgstr "在执行速度控制时，通常需要重力补偿，以确保更好地跟踪命令。在这种情况下，建议在模拟中为关节禁用重力。" + +#: ../../source/features/motion_generators.rst:80 +msgid "Position control with fixed impedance" +msgstr "带有固定阻抗的位置控制" + +#: ../../source/features/motion_generators.rst:84 +msgid "" +"In position control mode, a proportional-damping (PD) control law is " +"employed to track the desired joint positions and ensuring the articulation " +"remains still at the desired location (i.e., desired joint velocities are " +"zero). Based on the input actions, the joint torque commands are computed " +"as:" +msgstr "" +"在位置控制模式下，采用比例-" +"阻尼（PD）控制律来跟踪期望的关节位置，并确保在期望位置上关节保持静止（即期望关节速度为零）。根据输入动作，关节力矩指令计算如下：" + +#: ../../source/features/motion_generators.rst:88 +msgid "\\tau = k_p (q_{des} - q) - k_d \\dot{q}" +msgstr "\\tau = k_p (q_{des} - q) - k_d \\dot{q}" + +#: ../../source/features/motion_generators.rst:92 +msgid "" +"where :math:`k_p` and :math:`k_d` are the gains parsed from configuration." +msgstr "其中:math:`k_p` 和 :math:`k_d`是根据配置解析的增益。" + +#: ../../source/features/motion_generators.rst:94 +msgid "" +"In its simplest above form, the control mode is achievable by setting the " +"command type for the actuator group, via the :class:`ActuatorControlCfg` " +"class, to ``\"p_abs\"`` or ``\"p_rel\"``." +msgstr "" +"在其最简单的形式上，可以通过将执行器组的命令类型设置为 ``\"p_abs\"`` 或 ``\"p_rel\"``，以实现此控制模式，通过 " +":class:`ActuatorControlCfg` 类。" + +#: ../../source/features/motion_generators.rst:97 +msgid "" +"However, a more complete formulation which considers the dynamics of the " +"articulation would be:" +msgstr "然而，一个更完整的公式化考虑了关节动力学，即：" + +#: ../../source/features/motion_generators.rst:99 +msgid "\\tau = M \\left( k_p (q_{des} - q) - k_d \\dot{q} \\right) + g" +msgstr "\\tau = M \\left( k_p (q_{des} - q) - k_d \\dot{q} \\right) + g" + +#: ../../source/features/motion_generators.rst:103 +msgid "" +"where :math:`M` is the joint-space inertia matrix of size :math:`n \\times " +"n`, and :math:`g` is the joint-space gravity vector. This implementation is " +"available through the :class:`JointImpedanceController` class by setting the" +" impedance mode to ``\"fixed\"``. The gains :math:`k_p` are parsed from the " +"input configuration and :math:`k_d` are computed while considering the " +"system as a decoupled point-mass oscillator, i.e.," +msgstr "" +"其中:math:`M`是关节空间惯性矩阵，维度为 :math:`n \\times n`，:math:`g`是关节空间重力矢量。通过将阻抗模式设置为 " +"``\"固定\"``，可以通过 :class:`JointImpedanceController` " +"类中的该实现。从输入配置解析增益:math:`k_p`的同时考虑系统作为分离点质量振荡器。" + +#: ../../source/features/motion_generators.rst:108 +msgid "k_d = 2 \\sqrt{k_p} \\times D" +msgstr "k_d = 2 \\sqrt{k_p} \\times D" + +#: ../../source/features/motion_generators.rst:112 +msgid "" +"where :math:`D` is the damping ratio of the system. Critical damping is " +"achieved for :math:`D = 1`, overcritical damping for :math:`D > 1` and " +"undercritical damping for :math:`D < 1`." +msgstr "" +"其中:math:`D`是系统的阻尼比。当 :math:`D = 1` 时实现临界阻尼，:math:`D > 1` 时实现过临界阻尼，:math:`D <" +" 1` 时实现欠临界阻尼。" + +#: ../../source/features/motion_generators.rst:115 +msgid "" +"Additionally, it is possible to disable the inertial or gravity compensation" +" in the controller by setting the flags :attr:`inertial_compensation` and " +":attr:`gravity_compensation` in the configuration to :obj:`False`, " +"respectively." +msgstr "" +"此外，可以通过将配置中的标志 :attr:`inertial_compensation` 和 :attr:`gravity_compensation` " +"设置为 :obj:`False`，在控制器中禁用惯性或重力补偿。" + +#: ../../source/features/motion_generators.rst:120 +msgid "Position control with variable stiffness" +msgstr "带有可变刚度的位置控制" + +#: ../../source/features/motion_generators.rst:122 +msgid "Action dimensions: ``\"2n\"`` (number of joints)" +msgstr "动作维度： ``\"2n\"``（关节数量）" + +#: ../../source/features/motion_generators.rst:124 +msgid "" +"In stiffness control, the same formulation as above is employed, however, " +"the gains :math:`k_p` are part of the input commands. This implementation is" +" available through the :class:`JointImpedanceController` class by setting " +"the impedance mode to ``\"variable_kp\"``." +msgstr "" +"在刚度控制中，使用与上述相同的公式，然而，增益:math:`k_p`是输入命令的一部分。通过将阻抗模式设置为 ``\"可变普\"``，可以通过 " +":class:`JointImpedanceController` 类中的该实现。" + +#: ../../source/features/motion_generators.rst:129 +msgid "Position control with variable impedance" +msgstr "带有可变阻抗的位置控制" + +#: ../../source/features/motion_generators.rst:131 +msgid "Action dimensions: ``\"3n\"`` (number of joints)" +msgstr "动作维度： ``\"3n\"``（关节数量）" + +#: ../../source/features/motion_generators.rst:133 +msgid "" +"In impedance control, the same formulation as above is employed, however, " +"both :math:`k_p` and :math:`k_d` are part of the input commands. This " +"implementation is available through the :class:`JointImpedanceController` " +"class by setting the impedance mode to ``\"variable\"``." +msgstr "" +"在阻抗控制中，采用与上述相同的公式，然而，增益 :math:`k_p` 和 :math:`k_d` 是输入命令的一部分。通过将阻抗模式设置为 " +"``\"变量\"``，可以通过 :class:`JointImpedanceController` 类中的该实现。" + +#: ../../source/features/motion_generators.rst:138 +msgid "Task-space controllers" +msgstr "任务空间控制器" + +#: ../../source/features/motion_generators.rst:141 +msgid "Differential inverse kinematics (IK)" +msgstr "差分逆运动学（IK）" + +#: ../../source/features/motion_generators.rst:143 +msgid "" +"Action dimensions: ``\"3\"`` (relative/absolute position), ``\"6\"`` " +"(relative pose), or ``\"7\"`` (absolute pose)" +msgstr "动作维度： ``\"3\"`` （相对/绝对位置）, ``\"6\"`` （相对姿态）, 或 ``\"7\"`` （绝对姿态）" + +#: ../../source/features/motion_generators.rst:145 +msgid "" +"Inverse kinematics converts the task-space tracking error to joint-space " +"error. In its most typical implementation, the pose error in the task-sace, " +":math:`\\Delta \\chi_e = (\\Delta p_e, \\Delta \\phi_e)`, is computed as the" +" cartesian distance between the desired and current task-space positions, " +"and the shortest distance in :math:`\\mathbb{SO}(3)` between the desired and" +" current task-space orientations." +msgstr "" +"逆运动学将任务空间追踪误差转换为关节空间误差。在其最典型的实施中，任务空间中的姿势误差，:math:`\\Delta \\chi_e = " +"(\\Delta p_e, \\Delta \\phi_e)`，被计算为期望和当前任务空间位置之间的笛卡尔距离，以及期望和当前任务空间方向之间 " +":math:`\\mathbb{SO}(3)` 中的最短距离。" + +#: ../../source/features/motion_generators.rst:150 +msgid "" +"Using the geometric Jacobian :math:`J_{eO} \\in \\mathbb{R}^{6 \\times n}`, " +"that relates task-space velocity to joint-space velocities, we design the " +"control law to obtain the desired joint positions as:" +msgstr "" +"使用 :math:`J_{eO} \\in \\mathbb{R}^{6 \\times " +"n}`的几何雅克比矩阵，将任务空间速度与关节空间速度联系起来，我们通过设计控制律来获得期望的关节位置：" + +#: ../../source/features/motion_generators.rst:153 +msgid "q_{des} = q + \\eta J_{eO}^{-} \\Delta \\chi_e" +msgstr "q_{des} = q + \\eta J_{eO}^{-} \\Delta \\chi_e" + +#: ../../source/features/motion_generators.rst:157 +msgid "" +"where :math:`\\eta` is a scaling parameter and :math:`J_{eO}^{-}` is the " +"pseudo-inverse of the Jacobian." +msgstr "其中 :math:`\\eta` 是一个缩放参数，:math:`J_{eO}^{-}` 是雅克比的伪逆。" + +#: ../../source/features/motion_generators.rst:159 +msgid "" +"It is possible to compute the pseudo-inverse of the Jacobian using different" +" formulations:" +msgstr "可以使用不同的公式计算伪逆雅克比矩阵：" + +#: ../../source/features/motion_generators.rst:161 +msgid "Moore-Penrose pseduo-inverse: :math:`A^{-} = A^T(AA^T)^{-1}`." +msgstr "Moore-Penrose伪逆: :math:`A^{-} = A^T(AA^T)^{-1}`." + +#: ../../source/features/motion_generators.rst:162 +msgid "" +"Levenberg-Marquardt pseduo-inverse (damped least-squares): :math:`A^{-} = " +"A^T (AA^T + \\lambda \\mathbb{I})^{-1}`." +msgstr "" +"Levenberg-Marquardt伪逆（阻尼最小二乘）: :math:`A^{-} = A^T (AA^T + \\lambda " +"\\mathbb{I})^{-1}`." + +#: ../../source/features/motion_generators.rst:163 +msgid "Tanspose pseudo-inverse: :math:`A^{-} = A^T`." +msgstr "转置伪逆: :math:`A^{-} = A^T`." + +#: ../../source/features/motion_generators.rst:164 +msgid "" +"Adaptive singular-vale decomposition (SVD) pseduo-inverse from " +":cite:t:`buss2004ik`." +msgstr "自适应奇异值分解（SVD）伪逆来源 :cite:t:`buss2004ik`." + +#: ../../source/features/motion_generators.rst:166 +msgid "" +"These implementations are available through the " +":class:`DifferentialInverseKinematics` class." +msgstr "这些实现可以通过 :class:`DifferentialInverseKinematics` 类进行。[Google 翻译]" + +#: ../../source/features/motion_generators.rst:169 +msgid "Impedance controller" +msgstr "阻抗控制器" + +#: ../../source/features/motion_generators.rst:172 +msgid "" +"It uses task-space pose error and Jacobian to compute join torques through " +"mass-spring-damper system with a) fixed stiffness, b) variable stiffness " +"(stiffness control), and c) variable stiffness and damping (impedance " +"control)." +msgstr "" +"它使用任务空间姿势误差和雅可比矩阵，通过固定刚度a）、可变刚度（刚度控制）b）、可变刚度和阻尼（阻抗控制）的质量-弹簧-阻尼系统来计算关节力矩。" + +#: ../../source/features/motion_generators.rst:177 +msgid "Operational-space controller" +msgstr "运行空间控制器" + +#: ../../source/features/motion_generators.rst:179 +msgid "" +"Similar to task-space impedance control but uses the Equation of Motion " +"(EoM) for computing the task-space force" +msgstr "类似于任务空间阻抗控制，但使用运动方程（EoM）来计算任务空间力" + +#: ../../source/features/motion_generators.rst:184 +msgid "Closed-loop proportional force controller" +msgstr "闭环比例力控制器" + +#: ../../source/features/motion_generators.rst:186 +msgid "" +"It uses a proportional term to track the desired wrench command with respect" +" to current wrench at the end-effector." +msgstr "它使用比例项来跟踪期望的力矩指令相对于末端执行器当前力矩的情况。" + +#: ../../source/features/motion_generators.rst:191 +msgid "Hybrid force-motion controller" +msgstr "混合力-运动控制器" + +#: ../../source/features/motion_generators.rst:193 +msgid "" +"It combines closed-loop force control and operational-space motion control " +"to compute the desired wrench at the end-effector. It uses selection " +"matrices that define the unconstrainted and constrained task directions." +msgstr "它结合了闭环力控制和运行空间运动控制，以计算末端执行器的期望力矩。它使用定义未受约束和受约束任务方向的选择矩阵。" + +#: ../../source/features/motion_generators.rst:200 +msgid "Reactive planners" +msgstr "反应式规划器" + +#: ../../source/features/motion_generators.rst:202 +msgid "" +"Typical task-space controllers do not account for motion constraints such as" +" joint limits, self-collision and environment collision. Instead they rely " +"on high-level planners (such as RRT) to handle these non-Euclidean " +"constraints and give joint/task-space way-points to the controller. However," +" these methods are often conservative and have undesirable deceleration when" +" close to an object. More recently, different approaches combine the " +"constraints directly into an optimization problem, thereby providing a " +"holistic solution for motion generation and control." +msgstr "" +"典型的任务空间控制器不考虑关节限位、自身碰撞和环境碰撞等运动约束。相反，它们依赖于高级规划器（如RRT）来处理这些非欧几里德约束，并给出关节/任务空间的路标给控制器。然而，这些方法通常保守，并且在靠近物体时有不良的减速。最近，不同的方法将约束直接结合到优化问题中，从而为运动生成和控制提供了整体解决方案。" + +#: ../../source/features/motion_generators.rst:212 +msgid "We currently support the following planners:" +msgstr "我们目前支持以下规划器：" + +#: ../../source/features/motion_generators.rst:214 +msgid "" +"**RMPFlow (lula):** An acceleration-based policy that composes various " +"Reimannian Motion Policies (RMPs) to solve a hierarchy of tasks " +":cite:p:`cheng2021rmpflow`. It is capable of performing dynamic collision " +"avoidance while navigating the end-effector to a target." +msgstr "" +"**RMPFlow（lula）：**这是一种基于加速度的策略，由多个Reimannian Motion Policies " +"(RMPs)组成，用于解决任务层次结构问题 :cite:p:`cheng2021rmpflow`。 它可以在将末端执行器导航到目标的同时执行动态避碰。" + +#: ../../source/features/motion_generators.rst:218 +msgid "" +"**MPC (OCS2):** A receding horizon control policy based on sequential " +"linear-quadratic (SLQ) programming. It formulates various constraints into a" +" single optimization problem via soft-penalties and uses automatic " +"differentiation to compute derivatives of the system dynamics, constraints " +"and costs. Currently, we support the MPC formulation for end-effector " +"trajectory tracking in fixed-arm and mobile manipulators. The formulation " +"considers a kinematic system model with joint limits and self-collision " +"avoidance :cite:p:`mittal2021articulated`." +msgstr "" +"**MPC（OCS2）：**这是一种基于顺序线性二次（SLQ）规划的滚动视域控制策略。它通过软惩罚将各种约束转化为单个优化问题，并使用自动微分来计算系统动力学、约束和代价的导数。目前，我们支持MPC公式用于固定臂和移动机械手的末端执行器轨迹跟踪。该公式考虑了具有关节限位和自身碰撞避免的运动学系统模型" +" :cite:p:`mittal2021articulated`。" + +#: ../../source/features/motion_generators.rst:227 +msgid "" +"We wrap around the python bindings for these reactive planners to perform a " +"batched computing of robot actions. However, their current implementations " +"are CPU-based which may cause certain slowdown for learning." +msgstr "" +"我们包装了这些反应式规划器的Python绑定，以执行机器人动作的批处理计算。然而，它们目前的实现是基于CPU的，这可能导致学习过程中的一定减速。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/features/multi_gpu.po b/docs/locale/zh_CN/LC_MESSAGES/source/features/multi_gpu.po new file mode 100644 index 0000000000..3df226fb7d --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/features/multi_gpu.po @@ -0,0 +1,131 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/features/multi_gpu.rst:2 +msgid "Multi-GPU and Multi-Node Training" +msgstr "多GPU和多节点训练" + +#: ../../source/features/multi_gpu.rst:6 +msgid "" +"Isaac Lab supports multi-GPU and multi-node reinforcement learning. " +"Currently, this feature is only available for RL-Games and skrl libraries " +"workflows. We are working on extending this feature to other workflows." +msgstr "" +"Isaac Lab支持多GPU和多节点的强化学习。目前，此功能仅适用于RL-Games和skrl库工作流程。我们正在努力将此功能扩展到其他工作流程中。" + +#: ../../source/features/multi_gpu.rst:12 +msgid "" +"Multi-GPU and multi-node training is only supported on Linux. Windows " +"support is not available at this time. This is due to limitations of the " +"NCCL library on Windows." +msgstr "多GPU和多节点训练仅在Linux上受支持。目前不支持Windows。这是由于Windows上NCCL库的限制。" + +#: ../../source/features/multi_gpu.rst:17 +msgid "Multi-GPU Training" +msgstr "多GPU训练" + +#: ../../source/features/multi_gpu.rst:19 +msgid "" +"For complex reinforcement learning environments, it may be desirable to " +"scale up training across multiple GPUs. This is possible in Isaac Lab " +"through the use of the `PyTorch distributed " +"`_ framework." +msgstr "" +"对于复杂的强化学习环境，可能希望跨多个GPU扩展训练。在Isaac Lab中，通过使用 `PyTorch分布式 " +"`_ 框架可以实现这一点。" + +#: ../../source/features/multi_gpu.rst:23 +msgid "" +"The :meth:`torch.distributed` API is used to launch multiple processes of " +"training, where the number of processes must be equal to or less than the " +"number of GPUs available. Each process runs on a dedicated GPU and launches " +"its own instance of Isaac Sim and the Isaac Lab environment. Each process " +"collects its own rollouts during the training process and has its own copy " +"of the policy network. During training, gradients are aggregated across the " +"processes and broadcasted back to the process at the end of the epoch." +msgstr "" +":meth:`torch.distributed` " +"API用于启动多个训练进程，其中进程的数量必须等于或小于可用的GPU数量。每个进程在专用GPU上运行，并启动其自己的Isaac Sim和Isaac " +"Lab环境实例。在训练过程中，梯度在进程之间汇总，并在周期结束时广播回进程。" + +#: ../../source/features/multi_gpu.rst:-1 +msgid "Multi-GPU training paradigm" +msgstr "多GPU训练范式" + +#: ../../source/features/multi_gpu.rst:42 +msgid "" +"To train with multiple GPUs, use the following command, where " +"``--proc_per_node`` represents the number of available GPUs:" +msgstr "要使用多个GPU进行训练，请使用以下命令，其中``--proc_per_node``表示可用的GPU数量：" + +#: ../../source/features/multi_gpu.rst +msgid "rl_games" +msgstr "rl_games" + +#: ../../source/features/multi_gpu.rst +msgid "skrl" +msgstr "skrl" + +#: ../../source/features/multi_gpu.rst:63 +msgid "Multi-Node Training" +msgstr "多节点训练" + +#: ../../source/features/multi_gpu.rst:65 +msgid "" +"To scale up training beyond multiple GPUs on a single machine, it is also " +"possible to train across multiple nodes. To train across multiple " +"nodes/machines, it is required to launch an individual process on each node." +msgstr "要在单台计算机上跨多个GPU扩展训练，还可以在多个节点上训练。要在多个节点/机器上训练，需要在每个节点上启动一个单独的进程。" + +#: ../../source/features/multi_gpu.rst:68 +msgid "" +"For the master node, use the following command, where ``--proc_per_node`` " +"represents the number of available GPUs, and ``--nnodes`` represents the " +"number of nodes:" +msgstr "对于主节点，请使用以下命令，其中``--proc_per_node``表示可用的GPU数量，``--nnodes``表示节点的数量：" + +#: ../../source/features/multi_gpu.rst:88 +msgid "" +"Note that the port (``5555``) can be replaced with any other available port." +msgstr "注意，端口（``5555``）可以更换为任何其他可用端口。" + +#: ../../source/features/multi_gpu.rst:90 +msgid "" +"For non-master nodes, use the following command, replacing ``--node_rank`` " +"with the index of each machine:" +msgstr "对于非主节点，请使用以下命令，将``--node_rank``替换为每台机器的索引：" + +#: ../../source/features/multi_gpu.rst:109 +msgid "" +"For more details on multi-node training with PyTorch, please visit the " +"`PyTorch documentation " +"`_." +msgstr "" +"有关使用PyTorch进行多节点训练的更多详细信息，请访问 `PyTorch文档 " +"`_。" + +#: ../../source/features/multi_gpu.rst:114 +msgid "" +"As mentioned in the PyTorch documentation, \"multi-node training is " +"bottlenecked by inter-node communication latencies\". When this latency is " +"high, it is possible multi-node training will perform worse than running on " +"a single node instance." +msgstr "如PyTorch文档中所述，“多节点训练受到节点间通信延迟的瓶颈”。当这种延迟较高时，多节点训练可能表现不如在单节点实例上运行。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/features/task_workflows.po b/docs/locale/zh_CN/LC_MESSAGES/source/features/task_workflows.po new file mode 100644 index 0000000000..7bffb67c0e --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/features/task_workflows.po @@ -0,0 +1,247 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/features/task_workflows.rst:5 +msgid "Task Design Workflows" +msgstr "任务设计工作流" + +#: ../../source/features/task_workflows.rst:9 +msgid "" +"Environments define the interface between the agent and the simulation. In " +"the simplest case, the environment provides the agent with the current " +"observations and executes the actions provided by the agent. In a Markov " +"Decision Process (MDP) formulation, the environment can also provide " +"additional information such as the current reward, done flag, and " +"information about the current episode." +msgstr "" +"环境定义代理和模拟之间的接口。在最简单的情况下，环境为代理提供当前观察结果并执行代理提供的操作。在马尔可夫决策过程（MDP）的制定中，环境还可以提供额外的信息，如当前奖励、完成标志和有关当前情节的信息。" + +#: ../../source/features/task_workflows.rst:14 +msgid "" +"While the environment interface is simple to understand, its implementation " +"can vary significantly depending on the complexity of the task. In the " +"context of reinforcement learning (RL), the environment implementation can " +"be broken down into several components, such as the reward function, " +"observation function, termination function, and reset function. Each of " +"these components can be implemented in different ways depending on the " +"complexity of the task and the desired level of modularity." +msgstr "" +"虽然环境接口的理解很简单，但其实现因任务复杂程度的不同而显著变化。在强化学习（RL）的情境下，环境实现可以分解为多个部分，如奖励函数、观察函数、终止函数和重置函数。这些组件中的每一个可以根据任务的复杂程度和所需的模块化水平以不同的方式实现。" + +#: ../../source/features/task_workflows.rst:20 +msgid "" +"We provide two different workflows for designing environments with the " +"framework:" +msgstr "我们为使用该框架设计环境提供了两种不同的工作流程：" + +#: ../../source/features/task_workflows.rst:22 +msgid "" +"**Manager-based**: The environment is decomposed into individual components " +"(or managers) that handle different aspects of the environment (such as " +"computing observations, applying actions, and applying randomization). The " +"user defines configuration classes for each component and the environment is" +" responsible for coordinating the managers and calling their functions." +msgstr "" +"**基于管理器**: " +"环境被分解为处理环境不同方面的单个组件（或管理器）（如计算观察结果、应用操作和应用随机化）。用户为每个组件定义配置类，环境负责协调管理器并调用其函数。" + +#: ../../source/features/task_workflows.rst:26 +msgid "" +"**Direct**: The user defines a single class that implements the entire " +"environment directly without the need for separate managers. This class is " +"responsible for computing observations, applying actions, and computing " +"rewards." +msgstr "**直接**: 用户定义一个实现整个环境而无需单独管理器的单个类。这个类负责计算观察结果，应用操作并计算奖励。" + +#: ../../source/features/task_workflows.rst:29 +msgid "" +"Both workflows have their own advantages and disadvantages. The manager-" +"based workflow is more modular and allows different components of the " +"environment to be swapped out easily. This is useful when prototyping the " +"environment and experimenting with different configurations. On the other " +"hand, the direct workflow is more efficient and allows for more fine-grained" +" control over the environment logic. This is useful when optimizing the " +"environment for performance or when implementing complex logic that is " +"difficult to decompose into separate components." +msgstr "" +"这两种工作流都各有优缺点。基于管理器的工作流更模块化，可以轻松地更换环境的不同组件。这在原型环境并尝试不同配置时非常有用。另一方面，直接工作流更高效，并允许更精细地控制环境逻辑。这在优化环境性能或实现难以分解为单独组件的复杂逻辑时非常有用。" + +#: ../../source/features/task_workflows.rst:37 +msgid "Manager-Based Environments" +msgstr "基于管理器的环境" + +#: ../../source/features/task_workflows.rst:39 +msgid "" +"A majority of environment implementations follow a similar structure. The " +"environment processes the input actions, steps through the simulation, " +"computes observations and reward signals, applies randomization, and resets " +"the terminated environments. Motivated by this, the environment can be " +"decomposed into individual components that handle each of these tasks. For " +"example, the observation manager is responsible for computing the " +"observations, the reward manager is responsible for computing the rewards, " +"and the termination manager is responsible for computing the termination " +"signal. This approach is known as the manager-based environment design in " +"the framework." +msgstr "" +"大多数环境实现都遵循类似的结构。环境处理输入操作，通过模拟进行步骤，计算观察结果和奖励信号，应用随机化并重置终止的环境。因此，环境可以分解为处理这些任务的各个组件。例如，观察管理器负责计算观察结果，奖励管理器负责计算奖励，终止管理器负责计算终止信号。这种方式被称为框架中的基于管理器的环境设计。" + +#: ../../source/features/task_workflows.rst:46 +msgid "" +"Manager-based environments promote modular implementations of tasks by " +"decomposing the task into individual components that are managed by separate" +" classes. Each component of the task, such as rewards, observations, " +"termination can all be specified as individual configuration classes that " +"are then passed to the corresponding manager classes. The manager is then " +"responsible for parsing the configurations and processing the contents " +"specified in its configuration." +msgstr "" +"基于管理器的环境通过将任务分解为单独组件，促进了任务的模块化实现。任务的每个组件，如奖励、观察、终止都可以作为独立配置类指定，并传递给相应的管理器类。管理器然后负责对配置进行解析并处理其中指定的内容。" + +#: ../../source/features/task_workflows.rst:52 +msgid "" +"The coordination between the different managers is orchestrated by the class" +" :class:`envs.ManagerBasedRLEnv`. It takes in a task configuration class " +"instance (:class:`envs.ManagerBasedRLEnvCfg`) that contains the " +"configurations for each of the components of the task. Based on the " +"configurations, the scene is set up and the task is initialized. Afterwards," +" while stepping through the environment, all the managers are called " +"sequentially to perform the necessary operations." +msgstr "" +"不同管理器之间的协调由类:class:`envs.ManagerBasedRLEnv`进行编排。它接受一个任务配置类实例(:class:`envs.ManagerBasedRLEnvCfg`)，其中包含任务各组件的配置。根据这些配置，设置场景并初始化任务。然后，在环境中执行操作时，顺序调用所有管理器来执行必要的操作。" + +#: ../../source/features/task_workflows.rst:58 +msgid "" +"For their own tasks, we expect the user to mainly define the task " +"configuration class and use the existing :class:`envs.ManagerBasedRLEnv` " +"class for the task implementation. The task configuration class should " +"inherit from the base class :class:`envs.ManagerBasedRLEnvCfg` and contain " +"variables assigned to various configuration classes for each component (such" +" as the ``ObservationCfg`` and ``RewardCfg``)." +msgstr "" +"对于他们自己的任务，我们期望用户主要定义任务配置类，并使用现有的:class:`envs.ManagerBasedRLEnv`类执行任务。任务配置类应该继承自基类:class:`envs.ManagerBasedRLEnvCfg`，包含变量分配到各个配置类(如``ObservationCfg``和``RewardCfg``)。" + +#: ../../source/features/task_workflows.rst +msgid "" +"Example for defining the reward function for the Cartpole task using the " +"manager-style" +msgstr "使用管理类型定义Cartpole任务奖励功能的示例" + +#: ../../source/features/task_workflows.rst:66 +msgid "" +"The following class is a part of the Cartpole environment configuration " +"class. The :class:`RewardsCfg` class defines individual terms that compose " +"the reward function. Each reward term is defined by its function " +"implementation, weight and additional parameters to be passed to the " +"function. Users can define multiple reward terms and their weights to be " +"used in the reward function." +msgstr "以下类是Cartpole环境配置类的一部分。" + +#: ../../source/features/task_workflows.rst:76 +msgid "" +"Through this approach, it is possible to easily vary the implementations of " +"the task by switching some components while leaving the remaining of the " +"code intact. This flexibility is desirable when prototyping the environment " +"and experimenting with different configurations. It also allows for easy " +"collaborating with others on implementing an environment, since contributors" +" may choose to use different combinations of configurations for their own " +"task specifications." +msgstr "" +"通过这种方式，可以通过切换一些组件而保持代码的完整性。这种灵活性在原型环境和尝试不同配置时非常有用。它还允许很容易地协作实现环境，因为贡献者可以选择使用不同的配置组合来为自己的任务规范使用" + +#: ../../source/features/task_workflows.rst:84 +msgid "" +"We provide a more detailed tutorial for setting up an environment using the " +"manager-based workflow at :ref:`tutorial-create-manager-rl-env`." +msgstr "" +"We provide a more detailed tutorial for setting up an environment using the " +"manager-based workflow at :ref:`tutorial-create-manager-rl-env`." + +#: ../../source/features/task_workflows.rst:89 +msgid "Direct Environments" +msgstr "直接环境" + +#: ../../source/features/task_workflows.rst:91 +msgid "" +"The direct-style environment aligns more closely with traditional " +"implementations of environments, where a single script directly implements " +"the reward function, observation function, resets, and all the other " +"components of the environment. This approach does not require the manager " +"classes. Instead, users are provided the complete freedom to implement their" +" task through the APIs from the base class :class:`envs.DirectRLEnv`. For " +"users migrating from the `IsaacGymEnvs`_ and `OmniIsaacGymEnvs`_ framework, " +"this workflow may be more familiar." +msgstr "" +"与环境的传统实现更贴近，直接样式环境是单个脚本直接实现奖励函数、观察函数、重置和环境的所有其他组件。这种方法不需要管理器类。用户可以完全自由地通过基类:class:" +" ‘envs.DirectRLEnv’提供的API实现任务。对于从`IsaacGymEnvs`_ " +"和`OmniIsaacGymEnvs`_框架迁移的用户来说，这个工作流可能更加熟悉" + +#: ../../source/features/task_workflows.rst:97 +msgid "" +"When defining an environment with the direct-style implementation, we expect" +" the user define a single class that implements the entire environment. The " +"task class should inherit from the base :class:`envs.DirectRLEnv` class and " +"should have its corresponding configuration class that inherits from " +":class:`envs.DirectRLEnvCfg`. The task class is responsible for setting up " +"the scene, processing the actions, computing the rewards, observations, " +"resets, and termination signals." +msgstr "" +"在使用直接样式实现定义环境时，我们希望用户定义一个实现整个环境的单个类。任务类应该从基类:class:`envs.DirectRLEnv`派生，并且应该有相应的配置类，该类从:class:`envs.DirectRLEnvCfg`派生。任务类负责设置场景、处理操作、计算奖励、观察、重置和终止信号。" + +#: ../../source/features/task_workflows.rst +msgid "" +"Example for defining the reward function for the Cartpole task using the " +"direct-style" +msgstr "使用直接样式定义Cartpole任务的奖励功能的示例" + +#: ../../source/features/task_workflows.rst:105 +msgid "" +"The following function is a part of the Cartpole environment class and is " +"responsible for computing the rewards." +msgstr "下面的函数是Cartpole环境类的一部分，并负责计算奖励。" + +#: ../../source/features/task_workflows.rst:112 +msgid "" +"It calls the :meth:`compute_rewards` function which is Torch JIT compiled " +"for performance benefits." +msgstr "调用:meth:`compute_rewards`函数可以获得性能收益。" + +#: ../../source/features/task_workflows.rst:118 +msgid "" +"This approach provides more transparency in the implementations of the " +"environments, as logic is defined within the task class instead of " +"abstracted with the use of managers. This may be beneficial when " +"implementing complex logic that is difficult to decompose into separate " +"components. Additionally, the direct-style implementation may bring more " +"performance benefits for the environment, as it allows implementing large " +"chunks of logic with optimized frameworks such as `PyTorch JIT`_ or `Warp`_." +" This may be valuable when scaling up training tremendously which requires " +"optimizing individual operations in the environment." +msgstr "" +"这种方法提供了更多透明性的环境实现，因为逻辑在任务类中定义，而不是使用管理器进行抽象。当实现难以分解的复杂逻辑时，这可能是有益的。此外，直接样式的实现可能会为环境带来更多的性能收益，因为它允许使用优化框架（如PyTorch" +" JIT_或Warp_）来实现大块逻辑。这在需要优化环境中的个别操作时尤为珍贵" + +#: ../../source/features/task_workflows.rst:127 +msgid "" +"We provide a more detailed tutorial for setting up a RL environment using " +"the direct workflow at :ref:`tutorial-create-direct-rl-env`." +msgstr "" +"We provide a more detailed tutorial for setting up a RL environment using " +"the direct workflow at :ref:`tutorial-create-direct-rl-env`." diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/features/tiled_rendering.po b/docs/locale/zh_CN/LC_MESSAGES/source/features/tiled_rendering.po new file mode 100644 index 0000000000..35e275ec34 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/features/tiled_rendering.po @@ -0,0 +1,134 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/features/tiled_rendering.rst:2 +msgid "Tiled Rendering and Recording" +msgstr "平铺渲染和录制" + +#: ../../source/features/tiled_rendering.rst:8 +msgid "Tiled Rendering" +msgstr "平铺渲染" + +#: ../../source/features/tiled_rendering.rst:12 +msgid "This feature is only available from Isaac Sim version 4.0.0." +msgstr "此功能仅在Isaac Sim版本4.0.0及以上可用。" + +#: ../../source/features/tiled_rendering.rst:14 +msgid "" +"Tiled rendering requires heavy memory resources. We recommend running at " +"most 256 cameras in the scene." +msgstr "平铺渲染需要大量内存资源。我们建议在场景中最多运行256个摄像头。" + +#: ../../source/features/tiled_rendering.rst:16 +msgid "" +"Tiled rendering APIs provide a vectorized interface for collecting data from" +" camera sensors. This is useful for reinforcement learning environments " +"requiring vision in the loop. Tiled rendering works by concatenating camera " +"outputs from multiple cameras and rendering one single large image instead " +"of multiple smaller images that would have been produced by each individual " +"camera. This reduces the amount of time required for rendering and provides " +"a more efficient API for working with vision data." +msgstr "" +"平铺渲染API提供了一个矢量化接口，用于从摄像头传感器收集数据。这对需要视觉环节的强化学习环境非常有用。平铺渲染通过连接多个摄像头的相机输出并呈现为单个大图像，而不是由每个单独摄像头生成的多个较小图像。这减少了呈现所需的时间，并为处理视觉数据提供了更高效的API。" + +#: ../../source/features/tiled_rendering.rst:23 +msgid "" +"Isaac Lab provides tiled rendering APIs for RGB and depth data through the " +":class:`~sensors.TiledCamera` class. Configurations for the tiled rendering " +"APIs can be defined through the :class:`~sensors.TiledCameraCfg` class, " +"specifying parameters such as the regex expression for all camera paths, the" +" transform for the cameras, the desired data type, the type of cameras to " +"add to the scene, and the camera resolution." +msgstr "" +"Isaac " +"Lab通过:class:`~sensors.TiledCamera`类提供了用于RGB和深度数据的平铺渲染API。平铺渲染API的配置可以通过:class:`~sensors.TiledCameraCfg`类进行定义，指定参数，如用于所有摄像头路径的正则表达式，相机的变换方式，期望的数据类型，要添加到场景中的摄像头类型以及摄像头分辨率。" + +#: ../../source/features/tiled_rendering.rst:42 +msgid "" +"To access the tiled rendering interface, a :class:`~sensors.TiledCamera` " +"object can be created and used to retrieve data from the cameras." +msgstr "要访问平铺渲染接口，可以创建一个:class:`~sensors.TiledCamera`对象，并用于从摄像头获取数据。" + +#: ../../source/features/tiled_rendering.rst:51 +msgid "" +"The returned data will be transformed into the shape (num_cameras, height, " +"width, num_channels), which can be used directly as observation for " +"reinforcement learning." +msgstr "返回的数据将转换为形状（num_cameras，height，width，num_channels），可以直接用作强化学习的观察数据。" + +#: ../../source/features/tiled_rendering.rst:54 +msgid "" +"When working with rendering, make sure to add the ``--enable_cameras`` " +"argument when launching the environment. For example:" +msgstr "在处理渲染时，请确保在启动环境时添加``--enable_cameras``参数。例如：" + +#: ../../source/features/tiled_rendering.rst:63 +msgid "Recording during training" +msgstr "训练期间的录制" + +#: ../../source/features/tiled_rendering.rst:65 +msgid "" +"Isaac Lab supports recording video clips during training using the " +"`gymnasium.wrappers.RecordVideo " +"`_" +" class." +msgstr "" +"Isaac Lab支持在训练期间使用`gymnasium.wrappers.RecordVideo " +"`_" +" 类记录视频剪辑。" + +#: ../../source/features/tiled_rendering.rst:67 +msgid "" +"This feature can be enabled by using the following command line arguments " +"with the training script:" +msgstr "通过使用以下命令行参数和训练脚本可以启用此功能：" + +#: ../../source/features/tiled_rendering.rst:69 +msgid "``--video`` - enables video recording during training" +msgstr "``--video`` - 在训练期间启用视频录制" + +#: ../../source/features/tiled_rendering.rst:70 +msgid "``--video_length`` - length of each recorded video (in steps)" +msgstr "``--video_length`` - 每个录制视频的长度（以步数为单位）" + +#: ../../source/features/tiled_rendering.rst:71 +msgid "" +"``--video_interval`` - interval between each video recording (in steps)" +msgstr "``--video_interval`` - 每个视频录制之间的间隔时间（以步数为单位）" + +#: ../../source/features/tiled_rendering.rst:73 +msgid "" +"Make sure to also add the ``--enable_cameras`` argument when running " +"headless. Note that enabling recording is equivalent to enabling rendering " +"during training, which will slow down both startup and runtime performance." +msgstr "" +"在无头模式运行时，也确保添加``--enable_cameras``参数。请注意，启用录制等同于在训练期间启用渲染，这将拖慢启动和运行时性能。" + +#: ../../source/features/tiled_rendering.rst:76 +msgid "Example usage:" +msgstr "示例用法：" + +#: ../../source/features/tiled_rendering.rst:82 +msgid "" +"Recorded videos will be saved in the same directory as the training " +"checkpoints, under ``IsaacLab/logs////videos``." +msgstr "" +"记录的视频将保存在与训练检查点相同的目录中，位于``IsaacLab/logs////videos``下。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/how-to/add_own_library.po b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/add_own_library.po new file mode 100644 index 0000000000..6dbbf1de5c --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/add_own_library.po @@ -0,0 +1,171 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/how-to/add_own_library.rst:2 +msgid "Adding your own learning library" +msgstr "添加您自己的学习库" + +#: ../../source/how-to/add_own_library.rst:4 +msgid "" +"Isaac Lab comes pre-integrated with a number of libraries (such as RSL-RL, " +"RL-Games, SKRL, Stable Baselines, etc.). However, you may want to integrate " +"your own library with Isaac Lab or use a different version of the libraries " +"than the one installed by Isaac Lab. This is possible as long as the library" +" is available as Python package that supports the Python version used by the" +" underlying simulator. For instance, if you are using Isaac Sim 2023.1.1, " +"you need to ensure that the library is available for Python 3.10." +msgstr "" +"Isaac 实验室预先集成了许多库（例如 RSL-RL、RL-Games、SKRL、稳定基线等）。但是，您可能希望将您自己的库与 Isaac " +"实验室集成，或者使用与 Isaac 实验室安装的库不同的版本。只要该库可用作 Python 包，并支持底层模拟器所使用的 Python " +"版本，这是可能的。例如，如果您正在使用 Isaac Sim 2023.1.1，您需要确保该库可用于 Python 3.10。" + +#: ../../source/how-to/add_own_library.rst:11 +msgid "Using a different version of a library" +msgstr "使用不同版本的库" + +#: ../../source/how-to/add_own_library.rst:13 +msgid "" +"If you want to use a different version of a library than the one installed " +"by Isaac Lab, you can install the library by building it from source or " +"using a different version of the library available on PyPI." +msgstr "如果您想使用与 Isaac 实验室安装的库不同的版本，请通过从源代码构建库或使用 PyPI 上可用的不同版本的库来安装该库。" + +#: ../../source/how-to/add_own_library.rst:16 +msgid "" +"For instance, if you want to use your own modified version of the `rsl-rl`_ " +"library, you can follow these steps:" +msgstr "例如，如果您想要使用您自己修改过的 `rsl-rl`_ 库的版本，您可以按照以下步骤操作：" + +#: ../../source/how-to/add_own_library.rst:18 +msgid "" +"Follow the instructions for installing Isaac Lab. This will install the " +"default version of the ``rsl-rl`` library." +msgstr "按照安装 Isaac 实验室的说明。这将安装 ``rsl-rl`` 库的默认版本。" + +#: ../../source/how-to/add_own_library.rst:19 +msgid "Clone the ``rsl-rl`` library from the GitHub repository:" +msgstr "从 GitHub 存储库中克隆 ``rsl-rl`` 库：" + +#: ../../source/how-to/add_own_library.rst:26 +msgid "Install the library in your Python environment:" +msgstr "在您的 Python 环境中安装库：" + +#: ../../source/how-to/add_own_library.rst:36 +msgid "" +"In this case, the ``rsl-rl`` library will be installed in the Python " +"environment used by Isaac Lab. You can now use the ``rsl-rl`` library in " +"your experiments. To check the library version and other details, you can " +"use the following command:" +msgstr "" +"在这种情况下，``rsl-rl`` 库将安装在 Isaac 实验室使用的 Python 环境中。您现在可以在您的实验中使用 ``rsl-rl`` " +"库。要检查库版本和其他详细信息，您可以使用以下命令：" + +#: ../../source/how-to/add_own_library.rst:44 +msgid "" +"This should now show the location of the ``rsl-rl`` library as the directory" +" where you cloned the library. For instance, if you cloned the library to " +"``/home/user/git/rsl_rl``, the output of the above command should be:" +msgstr "" +"此时，应该会显示 ``rsl-rl`` 库的位置为您克隆库的目录。例如，如果您将库克隆到 " +"``/home/user/git/rsl_rl``，则上述命令的输出应为：" + +#: ../../source/how-to/add_own_library.rst:62 +msgid "Integrating a new library" +msgstr "集成新库" + +#: ../../source/how-to/add_own_library.rst:64 +msgid "" +"Adding a new library to Isaac Lab is similar to using a different version of" +" a library. You can install the library in your Python environment and use " +"it in your experiments. However, if you want to integrate the library with " +"Isaac Lab, you can will first need to make a wrapper for the library, as " +"explained in :ref:`how-to-env-wrappers`." +msgstr "" +"向 Isaac 实验室添加新库类似于使用不同版本的库。您可以在您的 Python 环境中安装库，并在实验中使用它。但是，如果您想将该库与 Isaac " +"实验室集成，您首先需要为该库创建一个包装器，如 :ref:`how-to-env-wrappers` 中所述。" + +#: ../../source/how-to/add_own_library.rst:69 +msgid "" +"The following steps can be followed to integrate a new library with Isaac " +"Lab:" +msgstr "可以按照以下步骤将新库与 Isaac 实验室集成：" + +#: ../../source/how-to/add_own_library.rst:71 +msgid "" +"Add your library as an extra-dependency in the ``setup.py`` for the " +"extension ``omni.isaac.lab_tasks``. This will ensure that the library is " +"installed when you install Isaac Lab or it will complain if the library is " +"not installed or available." +msgstr "" +"在扩展程序``omni.isaac.lab_tasks`` 的 ``setup.py`` 中将您的库添加为额外的依赖项。当您安装 Isaac " +"实验室时，这将确保库已安装，或者如果库未安装或不可用，会提示出错。" + +#: ../../source/how-to/add_own_library.rst:74 +msgid "" +"Install your library in the Python environment used by Isaac Lab. You can do" +" this by following the steps mentioned in the previous section." +msgstr "在 Isaac 实验室使用的 Python 环境中安装您的库。您可以按照前一节中提到的步骤进行操作。" + +#: ../../source/how-to/add_own_library.rst:76 +msgid "" +"Create a wrapper for the library. You can check the module " +":mod:`omni.isaac.lab_tasks.utils.wrappers` for examples of wrappers for " +"different libraries. You can create a new wrapper for your library and add " +"it to the module. You can also create a new module for the wrapper if you " +"prefer." +msgstr "" +"为库创建一个包装器。您可以在 :mod:`omni.isaac.lab_tasks.utils.wrappers` " +"模块中查看不同库的包装器示例。您可以为您的库创建一个新的包装器，并将其添加到该模块中。如果您愿意的话，也可以为包装器创建一个新模块。" + +#: ../../source/how-to/add_own_library.rst:79 +msgid "" +"Create workflow scripts for your library to train and evaluate agents. You " +"can check the existing workflow scripts in the " +"``source/standalone/workflows`` directory for examples. You can create new " +"workflow scripts for your library and add them to the directory." +msgstr "" +"为您的库创建工作流脚本以训练和评估代理。您可以在 ``source/standalone/workflows`` " +"目录中查看现有的工作流脚本示例。您可以为您的库创建新的工作流脚本，并将其添加到该目录中。" + +#: ../../source/how-to/add_own_library.rst:83 +msgid "" +"Optionally, you can also add some tests and documentation for the wrapper. " +"This will help ensure that the wrapper works as expected and can guide users" +" on how to use the wrapper." +msgstr "可选地，您还可以为包装器添加一些测试和文档。这将有助于确保包装器正常工作，并可以指导用户如何使用包装器。" + +#: ../../source/how-to/add_own_library.rst:86 +msgid "" +"Add some tests to ensure that the wrapper works as expected and remains " +"compatible with the library. These tests can be added to the " +"``source/extensions/omni.isaac.lab_tasks/test/wrappers`` directory." +msgstr "" +"添加一些测试以确保包装器正常工作，并与库保持兼容。这些测试可以添加到``source/extensions/omni.isaac.lab_tasks/test/wrappers``" +" 目录中。" + +#: ../../source/how-to/add_own_library.rst:88 +msgid "" +"Add some documentation for the wrapper. You can add the API documentation to" +" the ``docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst`` " +"file." +msgstr "" +"为包装器添加一些文档。您可以将 API 文档添加到 " +"``docs/source/api/lab_tasks/omni.isaac.lab_tasks.utils.wrappers.rst`` 文件中。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/how-to/draw_markers.po b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/draw_markers.po new file mode 100644 index 0000000000..c9e792c4a4 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/draw_markers.po @@ -0,0 +1,130 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/how-to/draw_markers.rst:2 +msgid "Creating Visualization Markers" +msgstr "创建可视化标记" + +#: ../../source/how-to/draw_markers.rst:6 +msgid "" +"Visualization markers are useful to debug the state of the environment. They" +" can be used to visualize the frames, commands, and other information in the" +" simulation." +msgstr "可视化标记对于调试环境的状态非常有用。它们可用于可视化模拟中的帧、命令和其他信息。" + +#: ../../source/how-to/draw_markers.rst:9 +msgid "" +"While Isaac Sim provides its own :mod:`omni.isaac.debug_draw` extension, it " +"is limited to rendering only points, lines and splines. For cases, where you" +" need to render more complex shapes, you can use the " +":class:`markers.VisualizationMarkers` class." +msgstr "" +"虽然Isaac Sim提供了自己的 :mod:`omni.isaac.debug_draw` " +"扩展，但它仅限于渲染点、线和样条。对于需要渲染更复杂形状的情况，您可以使用 :class:`markers.VisualizationMarkers` " +"类。" + +#: ../../source/how-to/draw_markers.rst:13 +msgid "" +"This guide is accompanied by a sample script ``markers.py`` in the " +"``IsaacLab/source/standalone/demos`` directory." +msgstr "" +"本指南附有一个名为``markers.py`` 的示例脚本，位于``IsaacLab/source/standalone/demos`` 目录中。" + +#: ../../source/how-to/draw_markers.rst +msgid "Code for markers.py" +msgstr "markers.py的代码" + +#: ../../source/how-to/draw_markers.rst:26 +msgid "Configuring the markers" +msgstr "配置标记" + +#: ../../source/how-to/draw_markers.rst:28 +msgid "" +"The :class:`~markers.VisualizationMarkersCfg` class provides a simple " +"interface to configure different types of markers. It takes in the following" +" parameters:" +msgstr "" +":class:`~markers.VisualizationMarkersCfg` 类提供了一个简单的接口来配置不同类型的标记。它接受以下参数：" + +#: ../../source/how-to/draw_markers.rst:31 +msgid "" +":attr:`~markers.VisualizationMarkersCfg.prim_path`: The corresponding prim " +"path for the marker class." +msgstr ":attr:`~markers.VisualizationMarkersCfg.prim_path`：标记类的对应prim路径。" + +#: ../../source/how-to/draw_markers.rst:32 +msgid "" +":attr:`~markers.VisualizationMarkersCfg.markers`: A dictionary specifying " +"the different marker prototypes handled by the class. The key is the name of" +" the marker prototype and the value is its spawn configuration." +msgstr "" +":attr:`~markers.VisualizationMarkersCfg.markers`：一个字典，指定类处理的不同标记原型。键是标记原型的名称，值是它的生成配置。" + +#: ../../source/how-to/draw_markers.rst:37 +msgid "" +"In case the marker prototype specifies a configuration with physics " +"properties, these are removed. This is because the markers are not meant to " +"be simulated." +msgstr "如果标记原型指定了带有物理属性的配置，则这些属性将被移除。这是因为标记不是用于模拟的。" + +#: ../../source/how-to/draw_markers.rst:40 +msgid "" +"Here we show all the different types of markers that can be configured. " +"These range from simple shapes like cones and spheres to more complex " +"geometries like a frame or arrows. The marker prototypes can also be " +"configured from USD files." +msgstr "" +"在这里，我们展示了可以配置的所有不同类型的标记。这些范围从简单的形状，如圆锥体和球体，到更复杂的几何形状，比如框架或箭头。标记原型也可以从USD文件中配置。" + +#: ../../source/how-to/draw_markers.rst:51 +msgid "Drawing the markers" +msgstr "绘制标记" + +#: ../../source/how-to/draw_markers.rst:53 +msgid "" +"To draw the markers, we call the " +":class:`~markers.VisualizationMarkers.visualize` method. This method takes " +"in as arguments the pose of the markers and the corresponding marker " +"prototypes to draw." +msgstr "" +"要绘制标记，我们调用 :class:`~markers.VisualizationMarkers.visualize` " +"方法。该方法以标记的姿势和相应的标记原型作为参数来绘制。" + +#: ../../source/how-to/draw_markers.rst:63 +msgid "Executing the Script" +msgstr "执行脚本" + +#: ../../source/how-to/draw_markers.rst:65 +msgid "To run the accompanying script, execute the following command:" +msgstr "要运行附带的脚本，请执行以下命令：" + +#: ../../source/how-to/draw_markers.rst:71 +msgid "" +"The simulation should start, and you can observe the different types of " +"markers arranged in a grid pattern. The markers will rotating around their " +"respective axes. Additionally every few rotations, they will roll forward on" +" the grid." +msgstr "模拟应该启动，您可以观察到不同类型的标记排列成网格图案。标记将围绕各自的轴旋转。另外，每隔几次旋转，它们会在网格上向前滚动。" + +#: ../../source/how-to/draw_markers.rst:75 +msgid "" +"To stop the simulation, close the window, or use ``Ctrl+C`` in the terminal." +msgstr "要停止模拟，请关闭窗口，或者在终端中使用``Ctrl+C``。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/how-to/import_new_asset.po b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/import_new_asset.po new file mode 100644 index 0000000000..28c28f43e2 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/import_new_asset.po @@ -0,0 +1,321 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/how-to/import_new_asset.rst:2 +msgid "Importing a New Asset" +msgstr "引入新资产" + +#: ../../source/how-to/import_new_asset.rst:6 +msgid "" +"NVIDIA Omniverse relies on the Universal Scene Description (USD) file format" +" to import and export assets. USD is an open source file format developed by" +" Pixar Animation Studios. It is a scene description format optimized for " +"large-scale, complex data sets. While this format is widely used in the film" +" and animation industry, it is less common in the robotics community." +msgstr "" +"NVIDIA Omniverse依赖通用场景描述（USD）文件格式来导入和导出资产。 USD是由Pixar Animation " +"Studios开发的开源文件格式。 它是一种针对大规模、复杂数据集进行了优化的场景描述格式。 " +"虽然该格式在电影和动画行业广泛使用，但在机器人领域并不常见。" + +#: ../../source/how-to/import_new_asset.rst:12 +msgid "" +"To this end, NVIDIA has developed various importers that allow you to import" +" assets from other file formats into USD. These importers are available as " +"extensions to Omniverse Kit:" +msgstr "为此，NVIDIA开发了各种导入器，允许您将资产从其他文件格式导入USD。 这些导入器作为Omniverse Kit的扩展可用：" + +#: ../../source/how-to/import_new_asset.rst:16 +msgid "**URDF Importer** - Import assets from URDF files." +msgstr "**URDF导入器** - 从URDF文件导入资产。" + +#: ../../source/how-to/import_new_asset.rst:17 +msgid "**MJCF Importer** - Import assets from MJCF files." +msgstr "**MJCF导入器** - 从MJCF文件导入资产。" + +#: ../../source/how-to/import_new_asset.rst:18 +msgid "" +"**Asset Importer** - Import assets from various file formats, including OBJ," +" FBX, STL, and glTF." +msgstr "**资产导入器** - 从各种文件格式（包括OBJ、FBX、STL和glTF）导入资产。" + +#: ../../source/how-to/import_new_asset.rst:21 +msgid "" +"The recommended workflow from NVIDIA is to use the above importers to " +"convert the asset into its USD representation. Once the asset is in USD " +"format, you can use the Omniverse Kit to edit the asset and export it to " +"other file formats." +msgstr "" +"NVIDIA推荐的工作流程是使用上述导入器将资产转换为其USD表示。 一旦资产以USD格式存在，就可以使用Omniverse " +"Kit来编辑资产并将其导出到其他文件格式中。" + +#: ../../source/how-to/import_new_asset.rst:25 +msgid "" +"An important note to use assets for large-scale simulation is to ensure that" +" they are in `instanceable`_ format. This allows the asset to be efficiently" +" loaded into memory and used multiple times in a scene. Otherwise, the asset" +" will be loaded into memory multiple times, which can cause performance " +"issues. For more details on instanceable assets, please check the Isaac Sim " +"`documentation`_." +msgstr "" +"使用大规模模拟的重要提示是确保资产处于`实例化`_格式。这可以使资产有效地加载到内存中，并在场景中多次使用。否则，资产将多次加载到内存中，这可能会导致性能问题。有关实例化资产的更多详细信息，请查看Isaac" +" Sim `文档`_。" + +#: ../../source/how-to/import_new_asset.rst:33 +msgid "Using URDF Importer" +msgstr "使用URDF导入器" + +#: ../../source/how-to/import_new_asset.rst:35 +msgid "" +"Isaac Sim includes the URDF and MJCF importers by default. These importers " +"support the option to import assets as instanceable assets. By selecting " +"this option, the importer will create two USD files: one for all the mesh " +"data and one for all the non-mesh data (e.g. joints, rigid bodies, etc.). " +"The prims in the mesh data file are referenced in the non-mesh data file. " +"This allows the mesh data (which is often bulky) to be loaded into memory " +"only once and used multiple times in a scene." +msgstr "" +"Isaac Sim默认包括URDF和MJCF导入器。 这些导入器支持将资产导入为实例化资产的选项。 " +"通过选择此选项，导入器将创建两个USD文件：一个用于所有网格数据，一个用于所有非网格数据（例如关节、刚体等）。 " +"网格数据文件中的prims将在非网格数据文件中引用。 这使得网格数据（通常是臃肿的）仅加载到内存中一次，并在场景中多次使用。" + +#: ../../source/how-to/import_new_asset.rst:42 +msgid "" +"For using these importers from the GUI, please check the documentation for " +"`MJCF importer`_ and `URDF importer`_ respectively." +msgstr "要从GUI中使用这些导入器，请分别查看`MJCF导入器`_和`URDF导入器`_的文档。" + +#: ../../source/how-to/import_new_asset.rst:45 +msgid "" +"For using the URDF importers from Python scripts, we include a utility tool " +"called ``convert_urdf.py``. Internally, this script creates an instance of " +":class:`~sim.converters.UrdfConverterCfg` which is then passed to the " +":class:`~sim.converters.UrdfConverter` class. The configuration class " +"specifies the default values for the importer. The important settings are:" +msgstr "" +"要从Python脚本中使用URDF导入器，我们包括了一个实用工具称为``convert_urdf.py``。在内部，此脚本创建了:class:`~sim.converters.UrdfConverterCfg`的实例，然后将其传递给:class:`~sim.converters.UrdfConverter`类。配置类指定了导入器的默认值。重要的设置是：" + +#: ../../source/how-to/import_new_asset.rst:50 +msgid "" +":attr:`~sim.converters.UrdfConverterCfg.fix_base` - Whether to fix the base " +"of the robot. This depends on whether you have a floating-base or fixed-base" +" robot." +msgstr "" +":attr:`~sim.converters.UrdfConverterCfg.fix_base` - " +"是否固定机器人的基座。这取决于你是否有一个浮动基座或固定基座机器人。" + +#: ../../source/how-to/import_new_asset.rst:52 +msgid "" +":attr:`~sim.converters.UrdfConverterCfg.make_instanceable` - Whether to " +"create instanceable assets. Usually, this should be set to ``True``." +msgstr "" +":attr:`~sim.converters.UrdfConverterCfg.make_instanceable` - " +"是否创建实例化资产。通常应将其设置为``True``。" + +#: ../../source/how-to/import_new_asset.rst:54 +msgid "" +":attr:`~sim.converters.UrdfConverterCfg.merge_fixed_joints` - Whether to " +"merge the fixed joints. Usually, this should be set to ``True`` to reduce " +"the asset complexity." +msgstr "" +":attr:`~sim.converters.UrdfConverterCfg.merge_fixed_joints` - " +"是否合并固定关节。通常，这应该设置为``True``以减少资产复杂性。" + +#: ../../source/how-to/import_new_asset.rst:56 +msgid "" +":attr:`~sim.converters.UrdfConverterCfg.default_drive_type` - The drive-type" +" for the joints. We recommend this to always be ``\"none\"``. This allows " +"changing the drive configuration using the actuator models." +msgstr "" +":attr:`~sim.converters.UrdfConverterCfg.default_drive_type` - " +"关节的驱动类型。我们建议始终设置为``\"none\"``。这允许使用执行器模型更改驱动器配置。" + +#: ../../source/how-to/import_new_asset.rst:59 +msgid "" +":attr:`~sim.converters.UrdfConverterCfg.default_drive_stiffness` - The drive" +" stiffness for the joints. We recommend this to always be ``0.0``. This " +"allows changing the drive configuration using the actuator models." +msgstr "" +":attr:`~sim.converters.UrdfConverterCfg.default_drive_stiffness` - " +"关节的驱动刚度。我们建议始终设置为``0.0``。这允许使用执行器模型更改驱动器配置。" + +#: ../../source/how-to/import_new_asset.rst:62 +msgid "" +":attr:`~sim.converters.UrdfConverterCfg.default_drive_damping` - The drive " +"damping for the joints. Similar to the stiffness, we recommend this to " +"always be ``0.0``." +msgstr "" +":attr:`~sim.converters.UrdfConverterCfg.default_drive_damping` - " +"关节的驱动阻尼。与刚度类似，我们建议始终将其设置为``0.0``。" + +#: ../../source/how-to/import_new_asset.rst:66 +#: ../../source/how-to/import_new_asset.rst:138 +msgid "Example Usage" +msgstr "示例用法" + +#: ../../source/how-to/import_new_asset.rst:68 +msgid "" +"In this example, we use the pre-processed URDF file of the ANYmal-D robot. " +"To check the pre-process URDF, please check the file the `anymal.urdf`_. The" +" main difference between the pre-processed URDF and the original URDF are:" +msgstr "" +"在此示例中，我们使用了任天堂-" +"D机器人的预处理URDF文件。要检查预处理好的URDF，请查看文件``anymal.urdf``_。预处理URDF和原始URDF之间的主要区别是：" + +#: ../../source/how-to/import_new_asset.rst:72 +msgid "" +"We removed the ```` tag from the URDF. This tag is not supported by " +"the URDF importer." +msgstr "我们从URDF中删除了````标签。此标签不受URDF导入器支持。" + +#: ../../source/how-to/import_new_asset.rst:73 +msgid "" +"We removed the ```` tag from the URDF. This tag is not " +"supported by the URDF importer." +msgstr "我们从URDF中删除了````标签。URDF导入器不支持此标签。" + +#: ../../source/how-to/import_new_asset.rst:74 +msgid "" +"We removed various collision bodies from the URDF to reduce the complexity " +"of the asset." +msgstr "我们从URDF中删除了多个碰撞体，以减少资产的复杂性。" + +#: ../../source/how-to/import_new_asset.rst:75 +msgid "" +"We changed all the joint's damping and friction parameters to ``0.0``. This " +"ensures that we can perform effort-control on the joints without PhysX " +"adding additional damping." +msgstr "我们将所有关节的阻尼和摩擦参数更改为``0.0``。这确保我们可以在没有PhysX增加额外阻尼的情况下对关节进行努力控制。" + +#: ../../source/how-to/import_new_asset.rst:77 +msgid "" +"We added the ```` tag to fixed joints. This ensures that the " +"importer does not merge these fixed joints." +msgstr "我们向固定关节添加了````标签。这确保导入器不会合并这些固定关节。" + +#: ../../source/how-to/import_new_asset.rst:80 +msgid "" +"The following shows the steps to clone the repository and run the converter:" +msgstr "以下是克隆存储库并运行转换器的步骤：" + +#: ../../source/how-to/import_new_asset.rst:99 +msgid "" +"Executing the above script will create two USD files inside the " +"``source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/`` " +"directory:" +msgstr "" +"执行上述脚本将在``source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/``目录内创建两个USD文件：" + +#: ../../source/how-to/import_new_asset.rst:102 +msgid "" +"``anymal_d.usd`` - This is the main asset file. It contains all the non-mesh" +" data." +msgstr "``anymal_d.usd`` - 这是主资产文件。 它包含所有非网格数据。" + +#: ../../source/how-to/import_new_asset.rst:103 +msgid "``Props/instanceable_assets.usd`` - This is the mesh data file." +msgstr "``Props/instanceable_assets.usd`` - 这是网格数据文件。" + +#: ../../source/how-to/import_new_asset.rst:107 +msgid "" +"Since Isaac Sim 2023.1.1, the URDF importer behavior has changed and it " +"stores the mesh data inside the main asset file even if the ``--make-" +"instanceable`` flag is set. This means that the " +"``Props/instanceable_assets.usd`` file is created but not used anymore." +msgstr "" +"自Isaac Sim 2023.1.1以来，URDF导入器的行为发生了变化，它会将网格数据存储到主资产文件中，即使设置了``--make-" +"instanceable``标志。这意味着``Props/instanceable_assets.usd``文件已创建，但不再被使用。" + +#: ../../source/how-to/import_new_asset.rst:111 +msgid "" +"You can press play on the opened window to see the asset in the scene. The " +"asset should \"collapse\" if everything is working correctly. If it blows " +"up, then it might be that you have self-collisions present in the URDF." +msgstr "" +"您可以按下打开窗口的“播放”按钮，以在场景中看到资产。如果一切正常的话，资产应该会“坍塌”。 如果发生爆炸，那么可能是URDF中存在自我碰撞。" + +#: ../../source/how-to/import_new_asset.rst:115 +msgid "" +"To run the script headless, you can add the ``--headless`` flag. This will " +"not open the GUI and exit the script after the conversion is complete." +msgstr "要无头运行脚本，您可以添加``--headless``标志。 这将不会打开GUI，并在转换完成后退出脚本。" + +#: ../../source/how-to/import_new_asset.rst:120 +msgid "Using Mesh Importer" +msgstr "使用网格导入器" + +#: ../../source/how-to/import_new_asset.rst:122 +msgid "" +"Omniverse Kit includes the mesh converter tool that uses the ASSIMP library " +"to import assets from various mesh formats (e.g. OBJ, FBX, STL, glTF, etc.)." +" The asset converter tool is available as an extension to Omniverse Kit. " +"Please check the `asset converter`_ documentation for more details. However," +" unlike Isaac Sim's URDF and MJCF importers, the asset converter tool does " +"not support creating instanceable assets. This means that the asset will be " +"loaded into memory multiple times if it is used multiple times in a scene." +msgstr "" +"Omniverse " +"Kit包括使用ASSIMP库的网格转换器工具，用于从各种网格格式（例如OBJ、FBX、STL、glTF等）导入资产。资产转换器工具作为Omniverse" +" Kit的扩展可用。请查看`资产转换器`_文档以获取更多详细信息。 但是，与Isaac " +"Sim的URDF和MJCF导入器不同，资产转换器工具不支持创建实例化资产。 这意味着如果在场景中多次使用资产，则资产将多次加载到内存中。" + +#: ../../source/how-to/import_new_asset.rst:129 +msgid "" +"Thus, we include a utility tool called ``convert_mesh.py`` that uses the " +"asset converter tool to import the asset and then converts it into an " +"instanceable asset. Internally, this script creates an instance of " +":class:`~sim.converters.MeshConverterCfg` which is then passed to the " +":class:`~sim.converters.MeshConverter` class. Since the mesh file does not " +"contain any physics information, the configuration class accepts different " +"physics properties (such as mass, collision shape, etc.) as input. Please " +"check the documentation for :class:`~sim.converters.MeshConverterCfg` for " +"more details." +msgstr "" +"因此，我们包括了一个名为``convert_mesh.py``的实用工具，该工具使用资产转换器工具导入资产，然后将其转换为可实例化的资产。在内部，此脚本创建了:class:`~sim.converters.MeshConverterCfg`的实例，然后将其传递给:class:`~sim.converters.MeshConverter`类。由于网格文件不包含任何物理信息，配置类将接受不同的物理属性（例如质量、碰撞形状等）作为输入。请查看:class:`~sim.converters.MeshConverterCfg`的文档以获取更多详细信息。" + +#: ../../source/how-to/import_new_asset.rst:140 +msgid "" +"We use an OBJ file of a cube to demonstrate the usage of the mesh converter." +" The following shows the steps to clone the repository and run the " +"converter:" +msgstr "我们使用一个立方体的OBJ文件来演示网格转换器的用法。以下是克隆存储库并运行转换器的步骤：" + +#: ../../source/how-to/import_new_asset.rst:160 +msgid "" +"Similar to the URDF converter, executing the above script will create two " +"USD files inside the " +"``source/extensions/omni.isaac.lab_assets/data/Props/CubeMultiColor/`` " +"directory. Additionally, if you press play on the opened window, you should " +"see the asset fall down under the influence of gravity." +msgstr "" +"与URDF转换器类似，执行上述脚本将在``source/extensions/omni.isaac.lab_assets/data/Props/CubeMultiColor/``目录内创建两个USD文件。此外，如果您按下打开窗口的“播放”按钮，应该会看到资产在重力的影响下倒下。" + +#: ../../source/how-to/import_new_asset.rst:165 +msgid "" +"If you do not set the ``--mass`` flag, then no rigid body properties will be" +" added to the asset. It will be imported as a static asset." +msgstr "如果不设置``--mass``标志，则不会向资产添加刚体属性。它将作为静态资产导入。" + +#: ../../source/how-to/import_new_asset.rst:167 +msgid "" +"If you also do not set the ``--collision-approximation`` flag, then the " +"asset will not have any collider properties as well and will be imported as " +"a visual asset." +msgstr "如果您还没有设置``--collision-approximation``标志，则该资产也不会具有任何碰撞器属性，并且将作为视觉资产导入。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/how-to/index.po b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/index.po new file mode 100644 index 0000000000..f2c33624c6 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/index.po @@ -0,0 +1,43 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/how-to/index.rst:2 +msgid "How-to Guides" +msgstr "指南" + +#: ../../source/how-to/index.rst:4 +msgid "" +"This section includes guides that help you use Isaac Lab. These are intended" +" for users who have already worked through the tutorials and are looking for" +" more information on how to use Isaac Lab. If you are new to Isaac Lab, we " +"recommend you start with the tutorials." +msgstr "" +"本节包括指南，以帮助您使用Isaac Lab。这些指南适用于已经完成教程并正在寻找如何使用Isaac Lab的更多信息的用户。如果您是Isaac " +"Lab的新手，我们建议您从教程开始。" + +#: ../../source/how-to/index.rst:10 +msgid "" +"This section is a work in progress. If you have a question that is not " +"answered here, please open an issue on our `GitHub page " +"`_." +msgstr "" +"本节仍在建设中。如果您有任何未在此处回答的问题，请在我们的`GitHub页面`_上开一个问题。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/how-to/make_fixed_prim.po b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/make_fixed_prim.po new file mode 100644 index 0000000000..51a0b3b4ce --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/make_fixed_prim.po @@ -0,0 +1,235 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/how-to/make_fixed_prim.rst:2 +msgid "Making a physics prim fixed in the simulation" +msgstr "在模拟中固定物理原语" + +#: ../../source/how-to/make_fixed_prim.rst:6 +msgid "" +"When a USD prim has physics schemas applied on it, it is affected by physics" +" simulation. This means that the prim can move, rotate, and collide with " +"other prims in the simulation world. However, there are cases where it is " +"desirable to make certain prims static in the simulation world, i.e. the " +"prim should still participate in collisions but its position and orientation" +" should not change." +msgstr "" +"当 USD " +"原语应用了物理模式，它就会受到模拟中的物理影响。这意味着原语可以在模拟世界中移动、旋转并与其他原语发生碰撞。然而，并非所有情况下都希望在模拟世界中使特定原语静止，即原语应仍参与碰撞，但其位置和方向不应更改。" + +#: ../../source/how-to/make_fixed_prim.rst:11 +msgid "" +"The following sections describe how to spawn a prim with physics schemas and" +" make it static in the simulation world." +msgstr "以下部分描述了如何生成具有物理模式的原语并使其静止在模拟世界中。" + +#: ../../source/how-to/make_fixed_prim.rst:14 +msgid "Static colliders" +msgstr "静态碰撞器" + +#: ../../source/how-to/make_fixed_prim.rst:16 +msgid "" +"Static colliders are prims that are not affected by physics but can collide " +"with other prims in the simulation world. These don't have any rigid body " +"properties applied on them. However, this also means that they can't be " +"accessed using the physics tensor API (i.e., through the " +":class:`assets.RigidObject` class)." +msgstr "" +"静态碰撞器是不受物理影响但可以在模拟世界中与其他原语发生碰撞的原语。它们没有任何刚体属性应用在它们身上。然而，这也意味着它们无法使用物理张量 API " +"进行访问（即通过 :class:`assets.RigidObject` 类）。" + +#: ../../source/how-to/make_fixed_prim.rst:20 +msgid "" +"For instance, to spawn a cone static in the simulation world, the following " +"code can be used:" +msgstr "例如，要在模拟世界中生成一个静态的锥体，可以使用以下代码：" + +#: ../../source/how-to/make_fixed_prim.rst:38 +msgid "Rigid object" +msgstr "刚体对象" + +#: ../../source/how-to/make_fixed_prim.rst:40 +msgid "" +"Rigid objects (i.e. object only has a single body) can be made static by " +"setting the parameter " +":attr:`sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled` as True. This " +"will make the object kinematic and it will not be affected by physics." +msgstr "" +"通过将参数 :attr:`sim.schemas.RigidBodyPropertiesCfg.kinematic_enabled` 设置为 " +"True，可以使刚体对象（即只有一个刚体的对象）静止。这将使对象静态，并且不受物理影响。" + +#: ../../source/how-to/make_fixed_prim.rst:44 +msgid "" +"For instance, to spawn a cone static in the simulation world but with rigid " +"body schema on it, the following code can be used:" +msgstr "例如，要在模拟世界中生成一个带有刚体模式但是静态的锥体，可以使用以下代码：" + +#: ../../source/how-to/make_fixed_prim.rst:65 +msgid "Articulation" +msgstr "关节" + +#: ../../source/how-to/make_fixed_prim.rst:67 +msgid "" +"Fixing the root of an articulation requires having a fixed joint to the root" +" rigid body link of the articulation. This can be achieved by setting the " +"parameter :attr:`sim.schemas.ArticulationRootPropertiesCfg.fix_root_link` as" +" True. Based on the value of this parameter, the following cases are " +"possible:" +msgstr "" +"固定关节于关节的根刚体链接需要将参数 " +":attr:`sim.schemas.ArticulationRootPropertiesCfg.fix_root_link` 设置为 " +"True。根据此参数的值，以下情况是可能的：" + +#: ../../source/how-to/make_fixed_prim.rst:71 +msgid "If set to :obj:`None`, the root link is not modified." +msgstr "如果设置为 :obj:`None`，则不会修改根链接。" + +#: ../../source/how-to/make_fixed_prim.rst:72 +msgid "" +"If the articulation already has a fixed root link, this flag will enable or " +"disable the fixed joint." +msgstr "如果关节已经有了固定的根链接，此标志将启用或禁用固定关节。" + +#: ../../source/how-to/make_fixed_prim.rst:73 +msgid "" +"If the articulation does not have a fixed root link, this flag will create a" +" fixed joint between the world frame and the root link. The joint is created" +" with the name \"FixedJoint\" under the root link." +msgstr "如果关节没有固定的根链接，此标志将在世界框架和根链接之间创建一个固定关节。该关节在根链接下以“FixedJoint”的名称创建。" + +#: ../../source/how-to/make_fixed_prim.rst:76 +msgid "" +"For instance, to spawn an ANYmal robot and make it static in the simulation " +"world, the following code can be used:" +msgstr "例如，要生成一个ANYmal机器人并使其在模拟世界中静止，可以使用以下代码：" + +#: ../../source/how-to/make_fixed_prim.rst:107 +msgid "" +"This will create a fixed joint between the world frame and the root link of " +"the ANYmal robot at the prim path ``\"/World/ANYmal/base/FixedJoint\"`` " +"since the root link is at the path ``\"/World/ANYmal/base\"``." +msgstr "" +"这将在原语路径``\"/World/ANYmal/base/FixedJoint\"``和根链接``\"/World/ANYmal/base\"``处创建一个固定的关节。" + +#: ../../source/how-to/make_fixed_prim.rst:112 +msgid "Further notes" +msgstr "进一步说明" + +#: ../../source/how-to/make_fixed_prim.rst:114 +msgid "" +"Given the flexibility of USD asset designing the following possible " +"scenarios are usually encountered:" +msgstr "鉴于 USD 资产设计的灵活性，通常会遇到以下可能的情况：" + +#: ../../source/how-to/make_fixed_prim.rst:116 +msgid "" +"**Articulation root schema on the rigid body prim without a fixed joint**:" +msgstr "**在没有固定关节的刚体原语上的关节根模式**：" + +#: ../../source/how-to/make_fixed_prim.rst:118 +msgid "" +"This is the most common and recommended scenario for floating-base " +"articulations. The root prim has both the rigid body and the articulation " +"root properties. In this case, the articulation root is parsed as a " +"floating-base with the root prim of the articulation ``Link0Xform``." +msgstr "" +"这是浮动基座关节的最常见和推荐的情况。根原语既具有刚体属性，也具有关节根属性。在这种情况下，关节根被解析为具有关节根原语“Link0Xform”的浮动基座。" + +#: ../../source/how-to/make_fixed_prim.rst:127 +msgid "**Articulation root schema on the parent prim with a fixed joint**:" +msgstr "**在具有固定关节的父原语上的关节根模式**：" + +#: ../../source/how-to/make_fixed_prim.rst:129 +msgid "" +"This is the expected arrangement for fixed-base articulations. The root prim" +" has only the rigid body properties and the articulation root properties are" +" applied to its parent prim. In this case, the articulation root is parsed " +"as a fixed-base with the root prim of the articulation ``Link0Xform``." +msgstr "" +"这是固定基座关节的预期安排。根原语只具有刚体属性，关节根属性应用于其父原语。在这种情况下，关节根被解析为具有关节根原语“Link0Xform”的固定基座。" + +#: ../../source/how-to/make_fixed_prim.rst:139 +msgid "**Articulation root schema on the parent prim without a fixed joint**:" +msgstr "**在没有固定关节的父原语上的关节根模式**：" + +#: ../../source/how-to/make_fixed_prim.rst:141 +msgid "" +"This is a scenario where the root prim has only the rigid body properties " +"and the articulation root properties are applied to its parent prim. " +"However, the fixed joint is not created between the world frame and the root" +" link. In this case, the articulation is parsed as a floating-base system. " +"However, the PhysX parser uses its own heuristic (such as alphabetical " +"order) to determine the root prim of the articulation. It may select the " +"root prim at ``Link0Xform`` or choose another prim as the root prim." +msgstr "" +"这是根原语只具有刚体属性，而关节根属性应用于其父原语的情况。但是，不会在世界框架和根链接之间创建固定关节。在这种情况下，关节被解析为浮动基座系统。但是，PhysX" +" 解析器使用自己的启发式方法（如字母顺序）来确定关节根原语。它可以选择``Link0Xform``的根原语，也可以选择另一个原语作为根原语。" + +#: ../../source/how-to/make_fixed_prim.rst:152 +msgid "" +"**Articulation root schema on the rigid body prim with a fixed joint**:" +msgstr "**在具有固定关节的刚体原语上的关节根模式**：" + +#: ../../source/how-to/make_fixed_prim.rst:154 +msgid "" +"While this is a valid scenario, it is not recommended as it may lead to " +"unexpected behavior. In this case, the articulation is still parsed as a " +"floating-base system. However, the fixed joint, created between the world " +"frame and the root link, is considered as a part of the maximal coordinate " +"tree. This is different from PhysX considering the articulation as a fixed-" +"base system. Hence, the simulation may not behave as expected." +msgstr "" +"虽然这是一个有效的情况，但不建议这样做，因为这可能导致意外行为。在这种情况下，关节仍然被解析为浮动基座系统。但在世界框架和根链接之间创建的固定关节被视为最大坐标树的一部分。这与" +" PhysX 将关节解析为固定基座系统不同。因此，模拟可能不会如预期那样执行。" + +#: ../../source/how-to/make_fixed_prim.rst:165 +msgid "" +"For floating base articulations, the root prim usually has both the rigid " +"body and the articulation root properties. However, directly connecting this" +" prim to the world frame will cause the simulation to consider the fixed " +"joint as a part of the maximal coordinate tree. This is different from PhysX" +" considering the articulation as a fixed-base system." +msgstr "" +"对于浮动基座关节，根原语通常同时具有刚体和关节根属性。然而，直接连接此原语到世界框架将导致模拟将固定关节视为最大坐标树的一部分。这与 PhysX " +"将关节视为固定基座系统是不同的。" + +#: ../../source/how-to/make_fixed_prim.rst:170 +msgid "" +"Internally, when the parameter " +":attr:`sim.schemas.ArticulationRootPropertiesCfg.fix_root_link` is set to " +"True and the articulation is detected as a floating-base system, the fixed " +"joint is created between the world frame the root rigid body link of the " +"articulation. However, to make the PhysX parser consider the articulation as" +" a fixed-base system, the articulation root properties are removed from the " +"root rigid body prim and applied to its parent prim instead." +msgstr "" +"在内部，在将参数 :attr:`sim.schemas.ArticulationRootPropertiesCfg.fix_root_link` 设置为" +" True 并且检测到关节为浮动基座系统时，固定关节将在关节的根刚体链接和世界框架之间创建。然而，为了使 PhysX " +"解析器将关节解析为固定基座系统，关节根属性会从根刚体原语中删除，并应用在其父原语身上。" + +#: ../../source/how-to/make_fixed_prim.rst:178 +msgid "" +"In future release of Isaac Sim, an explicit flag will be added to the " +"articulation root schema from PhysX to toggle between fixed-base and " +"floating-base systems. This will resolve the need of the above workaround." +msgstr "" +"在 Isaac Sim 的将来版本中，将添加一个明确的标志到来自 PhysX " +"的关节根模式中，以在固定基座系统和浮动基座系统之间切换。这将解决上述问题的需要。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/how-to/master_omniverse.po b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/master_omniverse.po new file mode 100644 index 0000000000..4077e66722 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/master_omniverse.po @@ -0,0 +1,387 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/how-to/master_omniverse.rst:2 +msgid "Mastering Omniverse for Robotics" +msgstr "掌握Omniverse机器人技术" + +#: ../../source/how-to/master_omniverse.rst:4 +msgid "" +"NVIDIA Omniverse offers a large suite of tools for 3D content workflows. " +"There are three main components (relevant to robotics) in Omniverse:" +msgstr "NVIDIA Omniverse提供了一套广泛的工具，用于3D内容的工作流程。Omniverse中与机器人相关的三个主要组件包括：" + +#: ../../source/how-to/master_omniverse.rst:7 +msgid "" +"**USD Composer**: This is based on a novel file format (Universal Scene " +"Description) from the animation (originally Pixar) community that is used in" +" Omniverse" +msgstr "" +"**USD Composer**：基于动画（最初来自Pixar社区）的新型文件格式（Universal Scene " +"Description），用于Omniverse" + +#: ../../source/how-to/master_omniverse.rst:10 +msgid "" +"**PhysX SDK**: This is the main physics engine behind Omniverse that " +"leverages GPU-based parallelization for massive scenes" +msgstr "**PhysX SDK**：这是Omniverse背后的主要物理引擎，利用GPU并行化处理大场景" + +#: ../../source/how-to/master_omniverse.rst:12 +msgid "" +"**RTX-enabled Renderer**: This uses ray-tracing kernels in NVIDIA RTX GPUs " +"for real-time physically-based rendering" +msgstr "**RTX-enabled Renderer**：使用NVIDIA RTX GPU上的光线追踪核心进行实时物理渲染" + +#: ../../source/how-to/master_omniverse.rst:15 +msgid "" +"Of these, the first two require a deeper understanding to start working with" +" Omniverse and its constituent applications (Isaac Sim and Isaac Lab)." +msgstr "其中，前两者需要深入了解才能开始使用Omniverse及其组成应用（Isaac Sim和Isaac Lab）。" + +#: ../../source/how-to/master_omniverse.rst:18 +msgid "The main things to learn:" +msgstr "主要学习内容：" + +#: ../../source/how-to/master_omniverse.rst:20 +msgid "How to use the Composer GUI efficiently?" +msgstr "如何有效使用Composer GUI？" + +#: ../../source/how-to/master_omniverse.rst:21 +msgid "What are USD prims and schemas?" +msgstr "USD prims和schemas是什么？" + +#: ../../source/how-to/master_omniverse.rst:22 +msgid "How do you compose a USD scene?" +msgstr "如何组合USD场景？" + +#: ../../source/how-to/master_omniverse.rst:23 +msgid "What is the difference between references and payloads in USD?" +msgstr "USD中引用和负载的区别是什么？" + +#: ../../source/how-to/master_omniverse.rst:24 +msgid "What is meant by scene-graph instancing?" +msgstr "什么是场景图实例化？" + +#: ../../source/how-to/master_omniverse.rst:25 +msgid "How to apply PhysX schemas on prims? What all schemas are possible?" +msgstr "如何在prims上应用PhysX schemas？可能的所有schemas有哪些？" + +#: ../../source/how-to/master_omniverse.rst:26 +msgid "" +"How to write basic operations in USD for creating prims and modifying their " +"attributes?" +msgstr "如何在USD中编写基本操作来创建prims并修改其属性？" + +#: ../../source/how-to/master_omniverse.rst:31 +msgid "Part 1: Using USD Composer" +msgstr "第一部分：使用USD Composer" + +#: ../../source/how-to/master_omniverse.rst:33 +msgid "" +"While several `video tutorials `__ " +"and `documentation `__ exist out there " +"on NVIDIA Omniverse, going through all of them would take an extensive " +"amount of time and effort. Thus, we have curated these resources to guide " +"you through using Omniverse, specifically for robotics." +msgstr "" +"虽然关于NVIDIA Omniverse有许多`视频教程 `__ 和 " +"`文档 " +"`__，但要浏览所有这些内容需要大量的时间和精力。因此，我们精选了这些资源，以指导您如何使用Omniverse，特别是针对机器人技术。" + +#: ../../source/how-to/master_omniverse.rst:41 +msgid "Introduction to Omniverse and USD" +msgstr "Omniverse和USD简介" + +#: ../../source/how-to/master_omniverse.rst:43 +msgid "`What is NVIDIA Omniverse? `__" +msgstr "`什么是NVIDIA Omniverse？ `__" + +#: ../../source/how-to/master_omniverse.rst:44 +msgid "" +"`What is the USD File Type? \\| Getting Started in NVIDIA Omniverse " +"`__" +msgstr "`USD文件类型是什么？ \\| 在NVIDIA Omniverse中入门 `__" + +#: ../../source/how-to/master_omniverse.rst:45 +msgid "" +"`What Makes USD Unique in NVIDIA Omniverse `__" +msgstr "`在NVIDIA Omniverse中USD的独特之处 `__" + +#: ../../source/how-to/master_omniverse.rst:47 +msgid "Using Omniverse USD Composer" +msgstr "使用Omniverse USD Composer" + +#: ../../source/how-to/master_omniverse.rst:49 +msgid "" +"`Introduction to Omniverse USD Composer `__" +msgstr "`介绍Omniverse USD Composer `__" + +#: ../../source/how-to/master_omniverse.rst:50 +msgid "" +"`Navigation Basics in Omniverse USD Composer " +"`__" +msgstr "`Omniverse USD Composer中的导航基础 `__" + +#: ../../source/how-to/master_omniverse.rst:51 +msgid "" +"`Lighting Basics in NVIDIA Omniverse USD Composer " +"`__" +msgstr "" +"`NVIDIA Omniverse USD Composer中的照明基础 `__" + +#: ../../source/how-to/master_omniverse.rst:52 +msgid "" +"`Rendering Overview in NVIDIA Omniverse USD Composer " +"`__" +msgstr "" +"`NVIDIA Omniverse USD Composer中的渲染概述 `__" + +#: ../../source/how-to/master_omniverse.rst:54 +msgid "Materials and MDL" +msgstr "材料和MDL" + +#: ../../source/how-to/master_omniverse.rst:56 +msgid "" +"`Five Things to Know About Materials in NVIDIA Omniverse " +"`__" +msgstr "`关于NVIDIA Omniverse材料的五个要点 `__" + +#: ../../source/how-to/master_omniverse.rst:57 +msgid "" +"`How to apply materials? `__" +msgstr "" +"`如何应用材料？ `__" + +#: ../../source/how-to/master_omniverse.rst:59 +msgid "Omniverse Physics and PhysX SDK" +msgstr "Omniverse物理和PhysX SDK" + +#: ../../source/how-to/master_omniverse.rst:61 +msgid "" +"`Basics - Setting Up Physics and Toolbar Overview " +"`__" +msgstr "`基础 - 设置物理和工具栏概述 `__" + +#: ../../source/how-to/master_omniverse.rst:62 +msgid "`Basics - Demos Overview `__" +msgstr "`基础 - 演示概述 `__" + +#: ../../source/how-to/master_omniverse.rst:63 +msgid "`Rigid Bodies - Mass Editing `__" +msgstr "`刚体 - 质量编辑 `__" + +#: ../../source/how-to/master_omniverse.rst:64 +msgid "" +"`Materials - Friction Restitution and Defaults " +"`__" +msgstr "`材料 - 摩擦恢复和默认设置 `__" + +#: ../../source/how-to/master_omniverse.rst:65 +msgid "" +"`Overview of Simulation Ready Assets Physics in Omniverse " +"`__" +msgstr "`Omniverse中模拟就绪资产物理的概述 `__" + +#: ../../source/how-to/master_omniverse.rst:67 +msgid "Importing assets" +msgstr "导入资产" + +#: ../../source/how-to/master_omniverse.rst:69 +msgid "" +"`Omniverse Create - Importing FBX Files \\| NVIDIA Omniverse Tutorials " +"`__" +msgstr "" +"`Omniverse Create - 导入FBX文件 \\| NVIDIA Omniverse教程 " +"`__" + +#: ../../source/how-to/master_omniverse.rst:70 +msgid "" +"`Omniverse Asset Importer " +"`__" +msgstr "" +"`Omniverse资产导入器 " +"`__" + +#: ../../source/how-to/master_omniverse.rst:71 +msgid "" +"`Isaac Sim URDF impoter " +"`__" +msgstr "" +"`Isaac Sim URDF导入器 " +"`__" + +#: ../../source/how-to/master_omniverse.rst:75 +msgid "Part 2: Scripting in Omniverse" +msgstr "第二部分：在Omniverse中编写脚本" + +#: ../../source/how-to/master_omniverse.rst:77 +msgid "" +"The above links mainly introduced how to use the USD Composer and its " +"functionalities through UI operations. However, often developers need to " +"write scripts to perform operations. This is especially true when you want " +"to automate certain tasks or create custom applications that use Omniverse " +"as a backend. This section will introduce you to scripting in Omniverse." +msgstr "" +"以上链接主要介绍了如何通过UI操作使用USD " +"Composer及其功能。然而，开发人员通常需要编写脚本来执行操作。特别是当您希望自动化某些任务或创建使用Omniverse作为后端的自定义应用程序时。本节将介绍在Omniverse中编写脚本的方法。" + +#: ../../source/how-to/master_omniverse.rst:84 +msgid "" +"USD is the main file format Omniverse operates with. So naturally, the APIs " +"(from OpenUSD) for modifying USD are at the core of Omniverse. Most of the " +"APIs are in C++ and Python bindings are provided for them. Thus, to script " +"in Omniverse, you need to understand the USD APIs." +msgstr "" +"USD是Omniverse操作的主要文件格式。因此，用于修改USD的API（来自OpenUSD）是Omniverse的核心。大多数API都是用C++编写的，并为它们提供了Python绑定。因此，要在Omniverse中编写脚本，您需要理解USD的API。" + +#: ../../source/how-to/master_omniverse.rst:91 +msgid "" +"While Isaac Sim and Isaac Lab try to \"relieve\" users from understanding " +"the core USD concepts and APIs, understanding these basics still help a lot " +"once you start diving inside the codebase and modifying it for your own " +"application." +msgstr "" +"虽然Isaac Sim和Isaac " +"Lab试图“解除”用户对核心USD概念和API的理解，但一旦开始深入代码库并为自己的应用程序修改代码时，理解这些基础概念仍然有很大帮助。" + +#: ../../source/how-to/master_omniverse.rst:96 +msgid "" +"Before diving into USD scripting, it is good to get acquainted with the " +"terminologies used in USD. We recommend the following `introduction to USD " +"basics `__ by Houdini," +" which is a 3D animation software. Make sure to go through the following " +"sections:" +msgstr "" +"在深入研究USD脚本之前，了解USD中使用的术语是很好的。我们推荐由Houdini提供的以下 `USD基础介绍 " +"`__。确保浏览以下部分：" + +#: ../../source/how-to/master_omniverse.rst:102 +msgid "" +"`Quick example `__" +msgstr "" +"`快速示例 `__" + +#: ../../source/how-to/master_omniverse.rst:103 +msgid "" +"`Attributes and primvars " +"`__" +msgstr "" +"`属性和primvars `__" + +#: ../../source/how-to/master_omniverse.rst:104 +msgid "" +"`Composition " +"`__" +msgstr "`组合 `__" + +#: ../../source/how-to/master_omniverse.rst:105 +msgid "" +"`Schemas `__" +msgstr "" +"`schemas `__" + +#: ../../source/how-to/master_omniverse.rst:106 +msgid "" +"`Instances " +"`__ and " +"`Scene-graph Instancing " +"`__" +msgstr "" +"`实例化 `__ 和 " +"`场景图实例化 " +"`__" + +#: ../../source/how-to/master_omniverse.rst:109 +msgid "As a test of understanding, make sure you can answer the following:" +msgstr "作为理解的测试，请确保您可以回答以下问题：" + +#: ../../source/how-to/master_omniverse.rst:111 +msgid "What are prims? What is meant by a prim path in a stage?" +msgstr "什么是prims？在阶段中，prim路径是什么意思？" + +#: ../../source/how-to/master_omniverse.rst:112 +msgid "How are attributes related to prims?" +msgstr "属性与prims有什么关系？" + +#: ../../source/how-to/master_omniverse.rst:113 +msgid "How are schemas related to prims?" +msgstr "schemas与prims有什么关系？" + +#: ../../source/how-to/master_omniverse.rst:114 +msgid "What is the difference between attributes and schemas?" +msgstr "属性和schemas之间有什么区别？" + +#: ../../source/how-to/master_omniverse.rst:115 +msgid "What is asset instancing?" +msgstr "什么是资产实例化？" + +#: ../../source/how-to/master_omniverse.rst:118 +msgid "Part 3: More Resources" +msgstr "第三部分：更多资源" + +#: ../../source/how-to/master_omniverse.rst:120 +msgid "" +"`Omniverse Glossary of Terms " +"`__" +msgstr "" +"`Omniverse术语表 " +"`__" + +#: ../../source/how-to/master_omniverse.rst:121 +msgid "" +"`Omniverse Code Samples `__" +msgstr "" +"`Omniverse代码示例 `__" + +#: ../../source/how-to/master_omniverse.rst:122 +msgid "" +"`PhysX Collider Compatibility " +"`__" +msgstr "" +"`PhysX碰撞体兼容性 " +"`__" + +#: ../../source/how-to/master_omniverse.rst:123 +msgid "" +"`PhysX Limitations " +"`__" +msgstr "" +"`PhysX限制 " +"`__" + +#: ../../source/how-to/master_omniverse.rst:124 +msgid "" +"`PhysX Documentation `__." +msgstr "`PhysX文档 `__." diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/how-to/record_animation.po b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/record_animation.po new file mode 100644 index 0000000000..610a8605de --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/record_animation.po @@ -0,0 +1,140 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/how-to/record_animation.rst:2 +msgid "Recording Animations of Simulations" +msgstr "仿真动画录制" + +#: ../../source/how-to/record_animation.rst:6 +msgid "" +"Omniverse includes tools to record animations of physics simulations. The " +"`Stage Recorder`_ extension listens to all the motion and USD property " +"changes within a USD stage and records them to a USD file. This file " +"contains the time samples of the changes, which can be played back to render" +" the animation." +msgstr "" +"Omniverse包括工具，可以记录物理模拟的动画。`Stage " +"Recorder`_扩展监听USD阶段内所有运动和USD属性更改，并将其记录到USD文件中。该文件包含更改的时间样本，可以播放以渲染动画。" + +#: ../../source/how-to/record_animation.rst:10 +msgid "" +"The timeSampled USD file only contains the changes to the stage. It uses the" +" same hierarchy as the original stage at the time of recording. This allows " +"adding the animation to the original stage, or to a different stage with the" +" same hierarchy. The timeSampled file can be directly added as a sublayer to" +" the original stage to play back the animation." +msgstr "" +"timeSampled " +"USD文件仅包含阶段更改。它在记录时使用与原始阶段相同的层次结构。这允许将动画添加到原始阶段或具有相同层次结构的不同阶段。timeSampled文件可以直接添加为原始阶段的子层，以播放动画。" + +#: ../../source/how-to/record_animation.rst:17 +msgid "" +"Omniverse only supports playing animation or playing physics on a USD prim " +"at the same time. If you want to play back the animation of a USD prim, you " +"need to disable the physics simulation on the prim." +msgstr "Omniverse仅支持同时在USD主体上播放动画或进行物理模拟。如果您要播放USD主体的动画，需要禁用主体上的物理模拟。" + +#: ../../source/how-to/record_animation.rst:21 +msgid "" +"In Isaac Lab, we directly use the `Stage Recorder`_ extension to record the " +"animation of the physics simulation. This is available as a feature in the " +":class:`~omni.isaac.lab.envs.ui.BaseEnvWindow` class. However, to record the" +" animation of a simulation, you need to disable `Fabric`_ to allow reading " +"and writing all the changes (such as motion and USD properties) to the USD " +"stage." +msgstr "" +"在Isaac Lab中，我们直接使用`Stage " +"Recorder`_扩展来记录物理模拟的动画。这在:class:`~omni.isaac.lab.envs.ui.BaseEnvWindow`类中作为一个特性可用。然而，要记录模拟的动画，您需要禁用`Fabric`_以允许读取和写入到USD阶段的所有更改（如运动和USD属性）。" + +#: ../../source/how-to/record_animation.rst:28 +msgid "Stage Recorder Settings" +msgstr "Stage Recorder设置" + +#: ../../source/how-to/record_animation.rst:30 +msgid "" +"Isaac Lab integration of the `Stage Recorder`_ extension assumes certain " +"default settings. If you want to change the settings, you can directly use " +"the `Stage Recorder`_ extension in the Omniverse Create application." +msgstr "" +"Isaac Lab集成`Stage Recorder`_扩展假定某些默认设置。如果要更改设置，可以直接在Omniverse " +"Create应用中使用`Stage Recorder`_扩展。" + +#: ../../source/how-to/record_animation.rst +msgid "Settings used in base_env_window.py" +msgstr "base_env_window.py中使用的设置" + +#: ../../source/how-to/record_animation.rst:43 +msgid "Example Usage" +msgstr "示例用法" + +#: ../../source/how-to/record_animation.rst:45 +msgid "" +"In all environment standalone scripts, Fabric can be disabled by passing the" +" ``--disable_fabric`` flag to the script. Here we run the state-machine " +"example and record the animation of the simulation." +msgstr "" +"在所有环境独立脚本中，可以通过将``--disable_fabric``标志传递给脚本来禁用Fabric。在这里，我们运行状态机示例并记录模拟的动画。" + +#: ../../source/how-to/record_animation.rst:53 +msgid "" +"On running the script, the Isaac Lab UI window opens with the button " +"\"Record Animation\" in the toolbar. Clicking this button starts recording " +"the animation of the simulation. On clicking the button again, the recording" +" stops. The recorded animation and the original stage (with all physics " +"disabled) are saved to the ``recordings`` folder in the current working " +"directory. The files are stored in the ``usd`` format:" +msgstr "" +"运行脚本后，Isaac Lab " +"UI窗口将打开，工具栏中将显示\"记录动画\"按钮。单击此按钮将开始记录模拟的动画。再次单击按钮将停止记录。记录的动画和原始阶段（所有物理效果均已禁用）保存在当前工作目录的``recordings``文件夹中。文件保存为``usd``格式：" + +#: ../../source/how-to/record_animation.rst:58 +msgid "``Stage.usd``: The original stage with all physics disabled" +msgstr "``Stage.usd``：具有所有物理效果已禁用的原始阶段" + +#: ../../source/how-to/record_animation.rst:59 +msgid "" +"``TimeSample_tk001.usd``: The timeSampled file containing the recorded " +"animation" +msgstr "``TimeSample_tk001.usd``：包含记录的动画的timeSampled文件" + +#: ../../source/how-to/record_animation.rst:61 +msgid "" +"You can open Omniverse Isaac Sim application to play back the animation. " +"There are many ways to launch the application (such as from terminal or " +"`Omniverse Launcher`_). Here we use the terminal to open the application and" +" play the animation." +msgstr "" +"您可以打开Omniverse Isaac Sim应用程序以播放动画。可以通过多种方式启动应用程序（例如从终端或`Omniverse " +"Launcher`_）。在这里，我们使用终端打开应用程序并播放动画。" + +#: ../../source/how-to/record_animation.rst:69 +msgid "" +"On a new stage, add the ``Stage.usd`` as a sublayer and then add the " +"``TimeSample_tk001.usd`` as a sublayer. You can do this by dragging and " +"dropping the files from the file explorer to the stage. Please check out the" +" `tutorial on layering in Omniverse`_ for more details." +msgstr "" +"在新阶段上，将``Stage.usd``添加为子层，然后将``TimeSample_tk001.usd``添加为子层。您可以通过从文件资源管理器将文件拖放到阶段上来执行此操作。请查看有关Omniverse中分层的教程`tutorial" +" on layering in Omniverse`_以获取更多细节。" + +#: ../../source/how-to/record_animation.rst:73 +msgid "You can then play the animation by pressing the play button." +msgstr "然后可以通过按下播放按钮来播放动画。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/how-to/save_camera_output.po b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/save_camera_output.po new file mode 100644 index 0000000000..e2ac28a273 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/save_camera_output.po @@ -0,0 +1,118 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/how-to/save_camera_output.rst:5 +msgid "Saving rendered images and 3D re-projection" +msgstr "保存渲染图像和3D重新投影" + +#: ../../source/how-to/save_camera_output.rst:9 +msgid "" +"This guide accompanied with the ``run_usd_camera.py`` script in the " +"``IsaacLab/source/standalone/tutorials/04_sensors`` directory." +msgstr "" +"本指南与``IsaacLab/source/standalone/tutorials/04_sensors``目录中的``run_usd_camera.py``脚本一起提供。" + +#: ../../source/how-to/save_camera_output.rst +msgid "Code for run_usd_camera.py" +msgstr "run_usd_camera.py代码" + +#: ../../source/how-to/save_camera_output.rst:22 +msgid "Saving using Replicator Basic Writer" +msgstr "使用 Replicator 基础写入实现保存" + +#: ../../source/how-to/save_camera_output.rst:24 +msgid "" +"To save camera outputs, we use the basic write class from Omniverse " +"Replicator. This class allows us to save the images in a numpy format. For " +"more information on the basic writer, please check the `documentation " +"`_." +msgstr "" +"为了保存相机输出，我们使用 Omniverse Replicator 中的基础写入类。该类允许我们以 numpy " +"格式保存图像。有关基础写入的更多信息，请查看`文档 " +"`_。" + +#: ../../source/how-to/save_camera_output.rst:33 +msgid "" +"While stepping the simulator, the images can be saved to the defined folder." +" Since the BasicWriter only supports saving data using NumPy format, we " +"first need to convert the PyTorch sensors to NumPy arrays before packing " +"them in a dictionary." +msgstr "" +"在模拟器步进时，可以将图像保存到指定文件夹中。由于 BasicWriter 只支持使用 NumPy 格式保存数据，我们首先需要将 PyTorch " +"传感器转换为 NumPy 数组，然后将其打包到字典中。" + +#: ../../source/how-to/save_camera_output.rst:42 +msgid "After this step, we can save the images using the BasicWriter." +msgstr "完成此步骤后，我们可以使用 BasicWriter 保存图像。" + +#: ../../source/how-to/save_camera_output.rst:51 +msgid "Projection into 3D Space" +msgstr "投影到3D空间" + +#: ../../source/how-to/save_camera_output.rst:53 +msgid "" +"We include utilities to project the depth image into 3D Space. The re-" +"projection operations are done using PyTorch operations which allows faster " +"computation." +msgstr "我们提供工具来将深度图像投影到3D空间。重新投影操作使用 PyTorch 操作完成，可以实现更快的计算。" + +#: ../../source/how-to/save_camera_output.rst:67 +msgid "" +"Alternately, we can use the " +":meth:`omni.isaac.lab.sensors.camera.utils.create_pointcloud_from_depth` " +"function to create a point cloud from the depth image and transform it to " +"the world frame." +msgstr "" +"或者，我们可以使用 " +":meth:`omni.isaac.lab.sensors.camera.utils.create_pointcloud_from_depth` " +"函数从深度图像创建点云，并将其转换为世界坐标系。" + +#: ../../source/how-to/save_camera_output.rst:75 +msgid "" +"The resulting point cloud can be visualized using the " +":mod:`omni.isaac.debug_draw` extension from Isaac Sim. This makes it easy to" +" visualize the point cloud in the 3D space." +msgstr "" +"使用 Isaac Sim 中的 :mod:`omni.isaac.debug_draw` 扩展可以可视化生成的点云。这样可以轻松在3D空间中可视化点云。" + +#: ../../source/how-to/save_camera_output.rst:85 +msgid "Executing the script" +msgstr "执行脚本" + +#: ../../source/how-to/save_camera_output.rst:87 +msgid "To run the accompanying script, execute the following command:" +msgstr "要运行附带的脚本，请执行以下命令：" + +#: ../../source/how-to/save_camera_output.rst:98 +msgid "" +"The simulation should start, and you can observe different objects falling " +"down. An output folder will be created in the " +"``IsaacLab/source/standalone/tutorials/04_sensors`` directory, where the " +"images will be saved. Additionally, you should see the point cloud in the 3D" +" space drawn on the viewport." +msgstr "" +"模拟应该启动，您可以观察不同对象下落。在``IsaacLab/source/standalone/tutorials/04_sensors``目录中将创建一个输出文件夹，其中将保存图像。此外，您应该在视口上看到绘制在3D空间中的点云。" + +#: ../../source/how-to/save_camera_output.rst:102 +msgid "" +"To stop the simulation, close the window, press the ``STOP`` button in the " +"UI, or use ``Ctrl+C`` in the terminal." +msgstr "要停止模拟，请关闭窗口，在 UI 中按``STOP``按钮，或在终端中使用``Ctrl+C``。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/how-to/wrap_rl_env.po b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/wrap_rl_env.po new file mode 100644 index 0000000000..8a9ee252eb --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/wrap_rl_env.po @@ -0,0 +1,196 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/how-to/wrap_rl_env.rst:5 +msgid "Wrapping environments" +msgstr "封装环境" + +#: ../../source/how-to/wrap_rl_env.rst:9 +msgid "" +"Environment wrappers are a way to modify the behavior of an environment " +"without modifying the environment itself. This can be used to apply " +"functions to modify observations or rewards, record videos, enforce time " +"limits, etc. A detailed description of the API is available in the " +":class:`gymnasium.Wrapper` class." +msgstr "" +"环境包装器是一种可以修改环境行为而不必修改环境本身的方式。这可以用于应用函数来修改观察或奖励，记录视频，强制时间限制等。API的详细说明可在 " +":class:`gymnasium.Wrapper` 类中找到。" + +#: ../../source/how-to/wrap_rl_env.rst:13 +msgid "" +"At present, all RL environments inheriting from the " +":class:`~envs.ManagerBasedRLEnv` class are compatible with " +":class:`gymnasium.Wrapper`, since the base class implements the " +":class:`gymnasium.Env` interface. In order to wrap an environment, you need " +"to first initialize the base environment. After that, you can wrap it with " +"as many wrappers as you want by calling ``env = wrapper(env, *args, " +"**kwargs)`` repeatedly." +msgstr "" +"目前，所有继承 :class:`~envs.ManagerBasedRLEnv` 类的 RL 环境都与 " +":class:`gymnasium.Wrapper` 兼容，因为基类实现了 :class:`gymnasium.Env` " +"接口。为了包装环境，您需要先初始化基础环境。之后，您可以通过反复调用“env = wrapper (env，*args，**kwargs)”来封装它。" + +#: ../../source/how-to/wrap_rl_env.rst:18 +msgid "" +"For example, here is how you would wrap an environment to enforce that reset" +" is called before step or render:" +msgstr "例如，下面是如何包装环境以强制在 step 或 render 之前调用 reset：" + +#: ../../source/how-to/wrap_rl_env.rst:46 +msgid "Wrapper for recording videos" +msgstr "记录视频的包装器" + +#: ../../source/how-to/wrap_rl_env.rst:48 +msgid "" +"The :class:`gymnasium.wrappers.RecordVideo` wrapper can be used to record " +"videos of the environment. The wrapper takes a ``video_dir`` argument, which" +" specifies where to save the videos. The videos are saved in `mp4 " +"`__ format at specified " +"intervals for specified number of environment steps or episodes." +msgstr "" +"使用 :class:`gymnasium.wrappers.RecordVideo` " +"包装器可以记录环境的视频。包装器接受一个“video_dir”参数，该参数指定视频保存的位置。视频以每个指定的环境步骤或情节的指定间隔保存为 `mp4 " +"`__ 格式。" + +#: ../../source/how-to/wrap_rl_env.rst:53 +msgid "" +"To use the wrapper, you need to first install ``ffmpeg``. On Ubuntu, you can" +" install it by running:" +msgstr "要使用该包装器，您需要首先安装“ffmpeg”。在 Ubuntu 上，您可以通过运行以下命令来安装它：" + +#: ../../source/how-to/wrap_rl_env.rst:61 +msgid "" +"By default, when running an environment in headless mode, the Omniverse " +"viewport is disabled. This is done to improve performance by avoiding " +"unnecessary rendering." +msgstr "默认情况下，在无头模式下运行环境时，Omniverse 视口被禁用。这样做是为了通过避免不必要的渲染来提高性能。" + +#: ../../source/how-to/wrap_rl_env.rst:64 +msgid "" +"We notice the following performance in different rendering modes with the " +"``Isaac-Reach-Franka-v0`` environment using an RTX 3090 GPU:" +msgstr "我们使用 RTX 3090 GPU，在不同渲染模式下观察到以下性能：" + +#: ../../source/how-to/wrap_rl_env.rst:67 +msgid "No GUI execution without off-screen rendering enabled: ~65,000 FPS" +msgstr "未启用离屏渲染的无GUI执行：~65,000 FPS" + +#: ../../source/how-to/wrap_rl_env.rst:68 +msgid "No GUI execution with off-screen enabled: ~57,000 FPS" +msgstr "启用离屏渲染的无GUI执行：~57,000 FPS" + +#: ../../source/how-to/wrap_rl_env.rst:69 +msgid "GUI execution with full rendering: ~13,000 FPS" +msgstr "全渲染执行：~13,000 FPS" + +#: ../../source/how-to/wrap_rl_env.rst:72 +msgid "" +"The viewport camera used for rendering is the default camera in the scene " +"called ``\"/OmniverseKit_Persp\"``. The camera's pose and image resolution " +"can be configured through the :class:`~envs.ViewerCfg` class." +msgstr "" +"用于渲染的视口摄像机是场景中名为“/OmniverseKit_Persp”的默认摄像机。摄像机的姿态和图像分辨率可以通过 " +":class:`~envs.ViewerCfg` 类进行配置。" + +#: ../../source/how-to/wrap_rl_env.rst +msgid "Default parameters of the ViewerCfg class:" +msgstr "ViewerCfg 类的默认参数：" + +#: ../../source/how-to/wrap_rl_env.rst:85 +msgid "" +"After adjusting the parameters, you can record videos by wrapping the " +"environment with the :class:`gymnasium.wrappers.RecordVideo` wrapper and " +"enabling the off-screen rendering flag. Additionally, you need to specify " +"the render mode of the environment as ``\"rgb_array\"``." +msgstr "" +"调整完参数后，您可以通过使用 :class:`gymnasium.wrappers.RecordVideo` " +"包装器以及启用离屏渲染标志来记录视频。此外，您需要将环境的渲染模式指定为“rgb_array”。" + +#: ../../source/how-to/wrap_rl_env.rst:89 +msgid "" +"As an example, the following code records a video of the ``Isaac-Reach-" +"Franka-v0`` environment for 200 steps, and saves it in the ``videos`` folder" +" at a step interval of 1500 steps." +msgstr "" +"例如，以下代码将记录“Isaac-Reach-" +"Franka-v0”环境的200个步骤的视频，并将其保存在“videos”文件夹中，步骤间隔为1500个步骤。" + +#: ../../source/how-to/wrap_rl_env.rst:124 +msgid "Wrapper for learning frameworks" +msgstr "用于学习框架的包装器" + +#: ../../source/how-to/wrap_rl_env.rst:126 +msgid "" +"Every learning framework has its own API for interacting with environments. " +"For example, the `Stable-Baselines3`_ library uses the `gym.Env " +"`_ interface to interact with " +"environments. However, libraries like `RL-Games`_, `RSL-RL`_ or `SKRL`_ use " +"their own API for interfacing with a learning environments. Since there is " +"no one-size-fits-all solution, we do not base the " +":class:`~envs.ManagerBasedRLEnv` class on any particular learning " +"framework's environment definition. Instead, we implement wrappers to make " +"it compatible with the learning framework's environment definition." +msgstr "" +"每个学习框架都有自己的 API 与环境进行交互。例如，`Stable-Baselines3`_ 库使用 `gym.Env " +"`_ 接口与环境进行交互。但是，像 `RL-Games`, `RSL-" +"RL` 或 `SKRL` 这样的库使用自己的 API " +"与学习环境进行接口。由于没有一种适用于所有情况的解决方案，我们不基于任何特定的学习框架的环境定义来构建 " +":class:`~envs.ManagerBasedRLEnv` 类。相反，我们实现包装器，使其与学习框架的环境定义兼容。" + +#: ../../source/how-to/wrap_rl_env.rst:134 +msgid "" +"As an example of how to use the RL task environment with Stable-Baselines3:" +msgstr "以下是如何使用 Stable-Baselines3 来使用 RL 任务环境的示例：" + +#: ../../source/how-to/wrap_rl_env.rst:148 +msgid "" +"Wrapping the environment with the respective learning framework's wrapper " +"should happen in the end, i.e. after all other wrappers have been applied. " +"This is because the learning framework's wrapper modifies the interpretation" +" of environment's APIs which may no longer be compatible with " +":class:`gymnasium.Env`." +msgstr "" +"将环境包装到相应的学习框架的包装器中应在最后进行，即在应用所有其他包装器之后。这是因为学习框架的包装器修改了环境 API 的解释，这些解释可能不再与 " +":class:`gymnasium.Env` 兼容。" + +#: ../../source/how-to/wrap_rl_env.rst:154 +msgid "Adding new wrappers" +msgstr "添加新的包装器" + +#: ../../source/how-to/wrap_rl_env.rst:156 +msgid "" +"All new wrappers should be added to the " +":mod:`omni.isaac.lab_tasks.utils.wrappers` module. They should check that " +"the underlying environment is an instance of " +":class:`omni.isaac.lab.envs.ManagerBasedRLEnv` before applying the wrapper. " +"This can be done by using the :func:`unwrapped` property." +msgstr "" +"所有新的包装器都应添加到 :mod:`omni.isaac.lab_tasks.utils.wrappers` " +"模块。在应用包装器之前，它们应检查基础环境是否是 :class:`omni.isaac.lab.envs.ManagerBasedRLEnv` " +"的实例。这可以通过使用 :func:`unwrapped` 属性来完成。" + +#: ../../source/how-to/wrap_rl_env.rst:160 +msgid "" +"We include a set of wrappers in this module that can be used as a reference " +"to implement your own wrappers. If you implement a new wrapper, please " +"consider contributing it to the framework by opening a pull request." +msgstr "" +"我们在此模块中包含了一组包装器，可以用作实现自己的包装器的参考。如果您实现了新的包装器，请考虑通过打开 pull request 来将其贡献给框架。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/how-to/write_articulation_cfg.po b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/write_articulation_cfg.po new file mode 100644 index 0000000000..39f9c7f081 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/how-to/write_articulation_cfg.po @@ -0,0 +1,176 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/how-to/write_articulation_cfg.rst:5 +msgid "Writing an Asset Configuration" +msgstr "编写资产配置" + +#: ../../source/how-to/write_articulation_cfg.rst:9 +msgid "" +"This guide walks through the process of creating an " +":class:`~assets.ArticulationCfg`. The :class:`~assets.ArticulationCfg` is a " +"configuration object that defines the properties of an " +":class:`~assets.Articulation` in Isaac Lab." +msgstr "" +"本指南介绍了创建:class:`~assets.ArticulationCfg`的过程。:class:`~assets.ArticulationCfg`是一个配置对象，定义了Isaac" +" Lab中:class:`~assets.Articulation`的属性。" + +#: ../../source/how-to/write_articulation_cfg.rst:15 +msgid "" +"While we only cover the creation of an :class:`~assets.ArticulationCfg` in " +"this guide, the process is similar for creating any other asset " +"configuration object." +msgstr "虽然本指南只涵盖了创建:class:`~assets.ArticulationCfg`的过程，但是对于创建任何其他资产配置对象的过程类似。" + +#: ../../source/how-to/write_articulation_cfg.rst:18 +msgid "" +"We will use the Cartpole example to demonstrate how to create an " +":class:`~assets.ArticulationCfg`. The Cartpole is a simple robot that " +"consists of a cart with a pole attached to it. The cart is free to move " +"along a rail, and the pole is free to rotate about the cart." +msgstr "" +"我们将使用Cartpole示例来演示如何创建:class:`~assets.ArticulationCfg`。Cartpole是一个简单的机器人，由一个带有杆的小车组成。小车可以沿着轨道自由移动，杆可以围绕小车自由旋转。" + +#: ../../source/how-to/write_articulation_cfg.rst +msgid "Code for Cartpole configuration" +msgstr "Cartpole配置代码" + +#: ../../source/how-to/write_articulation_cfg.rst:31 +msgid "Defining the spawn configuration" +msgstr "定义生成配置" + +#: ../../source/how-to/write_articulation_cfg.rst:33 +msgid "" +"As explained in :ref:`tutorial-spawn-prims` tutorials, the spawn " +"configuration defines the properties of the assets to be spawned. This " +"spawning may happen procedurally, or through an existing asset file (e.g. " +"USD or URDF). In this example, we will spawn the Cartpole from a USD file." +msgstr "" +"如：ref:`tutorial-spawn-" +"prims`教程中所述，生成配置定义要生成的资产的属性。这种生成可以通过过程方式进行，也可以通过已存在的资产文件（例如USD或URDF）进行。在本示例中，我们将从一个USD文件中生成Cartpole。" + +#: ../../source/how-to/write_articulation_cfg.rst:38 +msgid "" +"When spawning an asset from a USD file, we define its " +":class:`~sim.spawners.from_files.UsdFileCfg`. This configuration object " +"takes in the following parameters:" +msgstr "" +"从USD文件生成资产时，我们定义其:class:`~sim.spawners.from_files.UsdFileCfg`。此配置对象接受以下参数：" + +#: ../../source/how-to/write_articulation_cfg.rst:41 +msgid "" +":class:`~sim.spawners.from_files.UsdFileCfg.usd_path`: The USD file path to " +"spawn from" +msgstr ":class:`~sim.spawners.from_files.UsdFileCfg.usd_path`：要生成的USD文件路径" + +#: ../../source/how-to/write_articulation_cfg.rst:42 +msgid "" +":class:`~sim.spawners.from_files.UsdFileCfg.rigid_props`: The properties of " +"the articulation's root" +msgstr ":class:`~sim.spawners.from_files.UsdFileCfg.rigid_props`：关节根部的属性" + +#: ../../source/how-to/write_articulation_cfg.rst:43 +msgid "" +":class:`~sim.spawners.from_files.UsdFileCfg.articulation_props`: The " +"properties of all the articulation's links" +msgstr "" +":class:`~sim.spawners.from_files.UsdFileCfg.articulation_props`：所有关节链接的属性" + +#: ../../source/how-to/write_articulation_cfg.rst:45 +msgid "" +"The last two parameters are optional. If not specified, they are kept at " +"their default values in the USD file." +msgstr "最后两个参数是可选的。如果未指定，则会保留在USD文件中的默认值。" + +#: ../../source/how-to/write_articulation_cfg.rst:52 +msgid "" +"To import articulation from a URDF file instead of a USD file, you can " +"replace the :class:`~sim.spawners.from_files.UsdFileCfg` with a " +":class:`~sim.spawners.from_files.UrdfFileCfg`. For more details, please " +"check the API documentation." +msgstr "" +"要从URDF文件导入关节而不是从USD文件，可以将:class:`~sim.spawners.from_files.UsdFileCfg`替换为:class:`~sim.spawners.from_files.UrdfFileCfg`。更多详情，请查看API文档。" + +#: ../../source/how-to/write_articulation_cfg.rst:58 +msgid "Defining the initial state" +msgstr "定义初始状态" + +#: ../../source/how-to/write_articulation_cfg.rst:60 +msgid "" +"Every asset requires defining their initial or *default* state in the " +"simulation through its configuration. This configuration is stored into the " +"asset's default state buffers that can be accessed when the asset's state " +"needs to be reset." +msgstr "每个资产都需要通过其配置定义其模拟中的初始或*默认*状态。此配置存储到资产的默认状态缓冲区中，可以在资产状态需要重置时访问。" + +#: ../../source/how-to/write_articulation_cfg.rst:65 +msgid "" +"The initial state of an asset is defined w.r.t. its local environment frame." +" This then needs to be transformed into the global simulation frame when " +"resetting the asset's state. For more details, please check the " +":ref:`tutorial-interact-articulation` tutorial." +msgstr "" +"资产的初始状态是相对于其本地环境框架定义的。然后在重置资产状态时需要将其转换为全局模拟框架。更多详情，请查看：ref:`tutorial-" +"interact-articulation` 教程。" + +#: ../../source/how-to/write_articulation_cfg.rst:70 +msgid "" +"For an articulation, the :class:`~assets.ArticulationCfg.InitialStateCfg` " +"object defines the initial state of the root of the articulation and the " +"initial state of all its joints. In this example, we will spawn the Cartpole" +" at the origin of the XY plane at a Z height of 2.0 meters. Meanwhile, the " +"joint positions and velocities are set to 0.0." +msgstr "" +"对于关节，:class:`~assets.ArticulationCfg.InitialStateCfg`对象定义了关节根部的初始状态和所有关节的初始状态。在本示例中，我们将在XY平面的原点处生成Cartpole，高度为2.0米。同时，关节位置和速度设置为0.0。" + +#: ../../source/how-to/write_articulation_cfg.rst:81 +msgid "Defining the actuator configuration" +msgstr "定义执行器配置" + +#: ../../source/how-to/write_articulation_cfg.rst:83 +msgid "" +"Actuators are a crucial component of an articulation. Through this " +"configuration, it is possible to define the type of actuator model to use. " +"We can use the internal actuator model provided by the physics engine (i.e. " +"the implicit actuator model), or use a custom actuator model which is " +"governed by a user-defined system of equations (i.e. the explicit actuator " +"model). For more details on actuators, see :ref:`feature-actuators`." +msgstr "" +"执行器是关节的重要组件。通过此配置，可以定义要使用的执行器模型类型。可以使用物理引擎提供的内部执行器模型（即隐式执行器模型），也可以使用由用户定义的方程系统控制的自定义执行器模型（即显式执行器模型）。有关执行器的更多详情，请参见：ref:`feature-" +"actuators`。" + +#: ../../source/how-to/write_articulation_cfg.rst:89 +msgid "" +"The cartpole's articulation has two actuators, one corresponding to its each" +" joint: ``cart_to_pole`` and ``slider_to_cart``. We use two different " +"actuator models for these actuators as an example. However, since they are " +"both using the same actuator model, it is possible to combine them into a " +"single actuator model." +msgstr "" +"cartpole的关节有两个执行器，分别对应于它的每个关节：“cart_to_pole”和“slider_to_cart”。我们以此为例使用了两种不同的执行器模型。但是，由于它们都使用相同的执行器模型，可以将它们合并为一个单一的执行器模型。" + +#: ../../source/how-to/write_articulation_cfg.rst +msgid "Actuator model configuration with separate actuator models" +msgstr "使用独立执行器模型的执行器模型配置" + +#: ../../source/how-to/write_articulation_cfg.rst +msgid "Actuator model configuration with a single actuator model" +msgstr "使用单一执行器模型的执行器模型配置" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/migration/migrating_from_isaacgymenvs.po b/docs/locale/zh_CN/LC_MESSAGES/source/migration/migrating_from_isaacgymenvs.po new file mode 100644 index 0000000000..ed6e3ae142 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/migration/migrating_from_isaacgymenvs.po @@ -0,0 +1,815 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:4 +msgid "From IsaacGymEnvs" +msgstr "来自IsaacGymEnvs" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:9 +msgid "" +"`IsaacGymEnvs`_ was a reinforcement learning framework designed for the " +"`Isaac Gym Preview Release`_. As both IsaacGymEnvs and the Isaac Gym Preview" +" Release are now deprecated, the following guide walks through the key " +"differences between IsaacGymEnvs and Isaac Lab, as well as differences in " +"APIs between Isaac Gym Preview Release and Isaac Sim." +msgstr "" +"`IsaacGymEnvs`_ 是一个旨在为`Isaac Gym Preview Release`_ " +"设计的增强学习框架。由于IsaacGymEnvs和Isaac Gym Preview " +"Release都已经被停用，因此以下指南介绍了IsaacGymEnvs与Isaac Lab之间的关键区别，以及Isaac Gym Preview " +"Release和Isaac Sim之间API的差异。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:16 +msgid "Task Config Setup" +msgstr "任务配置设置" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:18 +msgid "" +"In IsaacGymEnvs, task config files were defined in ``.yaml`` format. With " +"Isaac Lab, configs are now specified using a specialized Python class " +":class:`~omni.isaac.lab.utils.configclass`. The " +":class:`~omni.isaac.lab.utils.configclass` module provides a wrapper on top " +"of Python's ``dataclasses`` module. Each environment should specify its own " +"config class annotated by ``@configclass`` that inherits from " +":class:`~envs.DirectRLEnvCfg`, which can include simulation parameters, " +"environment scene parameters, robot parameters, and task-specific " +"parameters." +msgstr "" +"在IsaacGymEnvs中，任务配置文件是以``.yaml``格式定义的。但使用Isaac " +"Lab后，配置现在是使用一个专门的Python类:class:`~omni.isaac.lab.utils.configclass`指定的。这个模块提供了Python的``dataclasses``模块的一个包装器。每个环境都应该指定自己的配置类，该类由``@configclass``注释，并继承:class:`~envs.DirectRLEnvCfg`，其中包括仿真参数、环境场景参数、机器人参数和任务特定参数。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:24 +msgid "Below is an example skeleton of a task config class:" +msgstr "下面是一个任务配置类的示例框架：" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:50 +msgid "Simulation Config" +msgstr "仿真配置" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:52 +msgid "" +"Simulation related parameters are defined as part of the " +":class:`~omni.isaac.lab.sim.SimulationCfg` class, which is a " +":class:`~omni.isaac.lab.utils.configclass` module that holds simulation " +"parameters such as ``dt``, ``device``, and ``gravity``. Each task config " +"must have a variable named ``sim`` defined that holds the type " +":class:`~omni.isaac.lab.sim.SimulationCfg`." +msgstr "" +"与仿真有关的参数被定义为:class:`~omni.isaac.lab.sim.SimulationCfg`类的一部分，这是一个:class:`~omni.isaac.lab.utils.configclass`模块，保存着诸如``dt``、``device``和``gravity``之类的仿真参数。每个任务配置必须有一个名为``sim``的变量，其类型为:class:`~omni.isaac.lab.sim.SimulationCfg`。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:57 +msgid "" +"In Isaac Lab, the use of ``substeps`` has been replaced by a combination of " +"the simulation ``dt`` and the ``decimation`` parameters. For example, in " +"IsaacGymEnvs, having ``dt=1/60`` and ``substeps=2`` is equivalent to taking " +"2 simulation steps with ``dt=1/120``, but running the task step at ``1/60`` " +"seconds. The ``decimation`` parameter is a task parameter that controls the " +"number of simulation steps to take for each task (or RL) step, replacing the" +" ``controlFrequencyInv`` parameter in IsaacGymEnvs. Thus, the same setup in " +"Isaac Lab will become ``dt=1/120`` and ``decimation=2``." +msgstr "" +"在Isaac " +"Lab中，``substeps``的使用已经被仿真``dt``和``decimation``这两个参数的组合所取代。例如，在IsaacGymEnvs中，如果``dt=1/60``和``substeps=2``等同于以``dt=1/120``模拟2个步骤，但任务步骤间隔为``1/60``秒。然后用``decimation``参数来控制每个任务（或RL）步骤执行的仿真步数，取代了IsaacGymEnvs中的``controlFrequencyInv``参数。因此，在Isaac" +" Lab中，相同的设置会变成``dt=1/120``和``decimation=2``。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:64 +msgid "" +"In Isaac Sim, physx simulation parameters such as " +"``num_position_iterations``, ``num_velocity_iterations``, " +"``contact_offset``, ``rest_offset``, ``bounce_threshold_velocity``, " +"``max_depenetration_velocity`` can all be specified on a per-actor basis. " +"These parameters have been moved from the physx simulation config to each " +"individual articulation and rigid body config." +msgstr "" +"在Isaac " +"Sim中，Physx仿真参数如``num_position_iterations``、``num_velocity_iterations``、``contact_offset``、``rest_offset``、``bounce_threshold_velocity``和``max_depenetration_velocity``都可以针对每个actor进行指定。这些参数已经从physx仿真配置移动到每个单独的artculation和刚体配置中。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:69 +msgid "" +"When running simulation on the GPU, buffers in PhysX require pre-allocation " +"for computing and storing information such as contacts, collisions and " +"aggregate pairs. These buffers may need to be adjusted depending on the " +"complexity of the environment, the number of expected contacts and " +"collisions, and the number of actors in the environment. The " +":class:`~omni.isaac.lab.sim.PhysxCfg` class provides access for setting the " +"GPU buffer dimensions." +msgstr "" +"在GPU上运行仿真时，PhysX中的缓冲区需要预先分配用于计算和存储接触、碰撞和聚合对等信息。这些缓冲区可能需要根据环境的复杂性、预期接触和碰撞的数量以及环境中的actors数量进行调整。:class:`~omni.isaac.lab.sim.PhysxCfg`类提供了访问设置GPU缓冲区维度的功能。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:104 +msgid "Scene Config" +msgstr "场景配置" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:106 +msgid "" +"The :class:`~omni.isaac.lab.scene.InteractiveSceneCfg` class can be used to " +"specify parameters related to the scene, such as the number of environments " +"and the spacing between environments. Each task config must have a variable " +"named ``scene`` defined that holds the type " +":class:`~omni.isaac.lab.scene.InteractiveSceneCfg`." +msgstr "" +"`omni.isaac.lab.scene.InteractiveSceneCfg`类可用于指定与场景相关的参数，例如环境的数量和环境之间的间距。每个任务配置必须有一个名为``scene``的变量被定义为持有类型`omni.isaac.lab.scene.InteractiveSceneCfg`的类。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:121 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:542 +msgid "Task Config" +msgstr "任务配置" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:123 +msgid "" +"Each environment should specify its own config class that holds task " +"specific parameters, such as the dimensions of the observation and action " +"buffers. Reward term scaling parameters can also be specified in the config " +"class." +msgstr "每个环境都应指定其自己的配置类，其中包含任务特定的参数，例如观察和操作缓冲区的维度。奖励项缩放参数也可以在配置类中指定。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:126 +msgid "The following parameters must be set for each environment config:" +msgstr "必须为每个环境配置设置以下参数:" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:136 +msgid "" +"Note that the maximum episode length parameter (now ``episode_length_s``) is" +" in seconds instead of steps as it was in IsaacGymEnvs. To convert between " +"step count to seconds, use the equation: ``episode_length_s = dt * " +"decimation * num_steps``" +msgstr "" +"请注意，最大情节长度参数（现在为``episode_length_s``）以秒为单位而不是在IsaacGymEnvs中的步数。要在步数和秒之间转换，请使用方程：``episode_length_s" +" = dt * decimation * num_steps``" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:142 +msgid "RL Config Setup" +msgstr "RL配置设置" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:144 +msgid "" +"RL config files for the rl_games library can continue to be defined in " +"``.yaml`` files in Isaac Lab. Most of the content of the config file can be " +"copied directly from IsaacGymEnvs. Note that in Isaac Lab, we do not use " +"hydra to resolve relative paths in config files. Please replace any relative" +" paths such as ``${....device}`` with the actual values of the parameters." +msgstr "" +"rl_games库的RL配置文件可以继续在Isaac " +"Lab中的``.yaml``文件中定义。配置文件的大部分内容可以直接从IsaacGymEnvs复制过来。请注意，在Isaac " +"Lab中，我们不使用hydra来解析配置文件中的相对路径。请将任何相对路径，例如``${....device}``替换为参数的实际值。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:149 +msgid "" +"Additionally, the observation and action clip ranges have been moved to the " +"RL config file. For any ``clipObservations`` and ``clipActions`` parameters " +"that were defined in the IsaacGymEnvs task config file, they should be moved" +" to the RL config file in Isaac Lab." +msgstr "" +"此外，观察和动作剪辑范围已被移至RL配置文件。对于在IsaacGymEnvs任务配置文件中定义的任何``clipObservations``和``clipActions``参数，应将其移至Isaac" +" Lab中的RL配置文件中。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:155 +msgid "IsaacGymEnvs Task Config" +msgstr "IsaacGymEnvs任务配置" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:155 +msgid "Isaac Lab RL Config" +msgstr "Isaac Lab RL配置" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:167 +msgid "Environment Creation" +msgstr "环境创建" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:169 +msgid "" +"In IsaacGymEnvs, environment creation generally included four components: " +"creating the sim object with ``create_sim()``, creating the ground plane, " +"importing the assets from MJCF or URDF files, and finally creating the " +"environments by looping through each environment and adding actors into the " +"environments." +msgstr "" +"在IsaacGymEnvs中，环境创建通常包括四个组件：使用``create_sim()``创建sim对象，创建地平面，从MJCF或URDF文件导入资产，最后通过循环浏览每个环境并将actors添加到环境中来创建环境。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:173 +msgid "" +"Isaac Lab no longer requires calling the ``create_sim()`` method to retrieve" +" the sim object. Instead, the simulation context is retrieved automatically " +"by the framework. It is also no longer required to use the ``sim`` as an " +"argument for the simulation APIs." +msgstr "" +"Isaac " +"Lab不再需要调用``create_sim()``方法来检索sim对象。相反，仿真上下文会被框架自动找到。也不再需要使用``sim``作为模拟API的参数。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:177 +msgid "" +"In replacement of ``create_sim()``, tasks can implement the " +"``_setup_scene()`` method in Isaac Lab. This method can be used for adding " +"actors into the scene, adding ground plane, cloning the actors, and adding " +"any other optional objects into the scene, such as lights." +msgstr "" +"在Isaac " +"Lab中，任务可以实现``_setup_scene()``方法来替换``create_sim()``。可以使用该方法向场景中添加actors、添加地平面、克隆actors，并向场景中添加任何其他可选对象，例如光源。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:182 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:399 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:419 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:501 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:545 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:601 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:643 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:740 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:775 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:828 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:855 +msgid "IsaacGymEnvs" +msgstr "IsaacGymEnvs" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:182 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:399 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:419 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:501 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:545 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:601 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:643 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:775 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:828 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:855 +msgid "Isaac Lab" +msgstr "Isaac Lab" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:202 +msgid "Ground Plane" +msgstr "地平面" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:204 +msgid "" +"In Isaac Lab, most of the environment creation process has been simplified " +"into configs with the :class:`~omni.isaac.lab.utils.configclass` module." +msgstr "" +"在Isaac Lab中，大部分环境创建过程都被简化为使用``omni.isaac.lab.utils.configclass``模块的配置。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:206 +msgid "" +"The ground plane can be defined using the " +":class:`~terrains.TerrainImporterCfg` class." +msgstr "可以使用``terrains.TerrainImporterCfg``类来定义地平面。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:225 +msgid "" +"The terrain can then be added to the scene in ``_setup_scene(self)`` by " +"referencing the ``TerrainImporterCfg`` object:" +msgstr "然后通过在``_setup_scene(self)``中引用``TerrainImporterCfg``对象来将地形添加到场景中:" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:237 +msgid "Actors" +msgstr "Actors" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:239 +msgid "" +"Isaac Lab and Isaac Sim both use the `USD (Universal Scene Description) " +"`_ library for describing " +"the scene. Assets defined in MJCF and URDF formats can be imported to USD " +"using importer tools described in the `Importing a New Asset <../how-" +"to/import_new_asset.html>`_ tutorial." +msgstr "" +"Isaac Lab和Isaac Sim都使用`USD（Universal Scene " +"Description）`_库来描述场景。在MJCF和URDF格式中定义的资产可以使用导入工具导入到USD中，这些工具在`导入新资产" +" <../how-to/import_new_asset.html>`_教程中有描述。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:243 +msgid "" +"Each Articulation and Rigid Body actor can also have its own config class. " +"The :class:`~omni.isaac.lab.assets.ArticulationCfg` class can be used to " +"define parameters for articulation actors, including file path, simulation " +"parameters, actuator properties, and initial states." +msgstr "" +"每个Articulation和Rigid Body " +"actor也可以有自己的配置类。``omni.isaac.lab.assets.ArticulationCfg``类可用于定义关节actors的参数，包括文件路径、仿真参数、执行器属性和初始状态。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:287 +msgid "" +"Within the :class:`~assets.ArticulationCfg`, the ``spawn`` attribute can be " +"used to add the robot to the scene by specifying the path to the robot file." +" In addition, :class:`~omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg` " +"can be used to specify simulation properties for the rigid bodies in the " +"articulation. Similarly, the " +":class:`~omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg` class can" +" be used to specify simulation properties for the articulation. Joint " +"properties are now specified as part of the ``actuators`` dictionary using " +":class:`~actuators.ImplicitActuatorCfg`. Joints with the same properties can" +" be grouped into regex expressions or provided as a list of names or " +"expressions." +msgstr "" +"在``assets.ArticulationCfg``内，可以使用``spawn``属性通过指定机器人文件的路径来将机器人添加到场景中。此外，``omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg``可以用于指定articulation中刚体的仿真属性。类似地，``omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg``类可用于指定articulation的仿真属性。关节属性现在作为``actuators``字典的一部分来指定，并使用``omni.isaac.lab.actuators.ImplicitActuatorCfg``。具有相同属性的关节可以分组为regex表达式或作为名称或表达式列表提供。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:295 +msgid "" +"Actors are added to the scene by simply calling ``self.cartpole = " +"Articulation(self.cfg.robot_cfg)``, where ``self.cfg.robot_cfg`` is an " +":class:`~assets.ArticulationCfg` object. Once initialized, they should also " +"be added to the :class:`~scene.InteractiveScene` by calling " +"``self.scene.articulations[\"cartpole\"] = self.cartpole`` so that the " +":class:`~scene.InteractiveScene` can traverse through actors in the scene " +"for writing values to the simulation and resetting." +msgstr "" +"通过简单地调用``self.cartpole = " +"Articulation(self.cfg.robot_cfg)``可将actors添加到场景中，其中``self.cfg.robot_cfg``是一个``omni.isaac.lab.assets.ArticulationCfg``对象。初始化后，还应调用``self.scene.articulations[\"cartpole\"]" +" = " +"self.cartpole``将其添加到``scene.InteractiveScene``中，以便``scene.InteractiveScene``可以遍历场景中的actors来向仿真系统传递值和重置。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:302 +msgid "Simulation Parameters for Actors" +msgstr "actors的仿真参数" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:304 +msgid "" +"Some simulation parameters related to Rigid Bodies and Articulations may " +"have different default values between Isaac Gym Preview Release and Isaac " +"Sim. It may be helpful to double check the USD assets to ensure that the " +"default values are applicable for the asset." +msgstr "" +"关于刚体和关节actors的一些仿真参数可能在Isaac Gym Preview Release和Isaac " +"Sim之间具有不同的默认值。可能有助于双重检查USD资产，以确保默认值适用于该资产。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:309 +msgid "" +"For instance, the following parameters in the ``RigidBodyAPI`` could be " +"different between Isaac Gym Preview Release and Isaac Sim:" +msgstr "" +"例如，在``RigidBodyAPI``中，以下参数可能在Isaac Gym Preview Release和Isaac Sim中有所不同:" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:316 +msgid "RigidBodyAPI Parameter" +msgstr "RigidBodyAPI参数" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:317 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:345 +msgid "Default Value in Isaac Sim" +msgstr "在Isaac Sim中的默认值" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:318 +msgid "Default Value in Isaac Gym Preview Release" +msgstr "在Isaac Gym Preview Release中的默认值" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:319 +msgid "Linear Damping" +msgstr "线性阻尼" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:320 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:321 +msgid "0.00" +msgstr "0.00" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:322 +msgid "Angular Damping" +msgstr "角阻尼" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:323 +msgid "0.05" +msgstr "0.05" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:324 +msgid "0.0" +msgstr "0.0" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:325 +msgid "Max Linear Velocity" +msgstr "最大线性速度" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:326 +#: ../../source/migration/migrating_from_isaacgymenvs.rst:332 +msgid "inf" +msgstr "inf" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:327 +msgid "1000" +msgstr "1000" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:328 +msgid "Max Angular Velocity" +msgstr "最大角速度" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:329 +msgid "5729.58008 (degree/s)" +msgstr "5729.58008（度每秒）" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:330 +msgid "64.0 (rad/s)" +msgstr "64.0（弧度每秒）" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:331 +msgid "Max Contact Impulse" +msgstr "最大接触冲量" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:333 +msgid "1e32" +msgstr "1e32" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:335 +msgid "" +"Articulation parameters for the ``JointAPI`` and ``DriveAPI`` could be " +"altered as well. Note that the Isaac Sim UI assumes the unit of angle to be " +"degrees. It is particularly worth noting that the ``Damping`` and " +"``Stiffness`` parameters in the ``DriveAPI`` have the unit of ``1/deg`` in " +"the Isaac Sim UI but ``1/rad`` in Isaac Gym Preview Release." +msgstr "" +"``JointAPI``和``DriveAPI``的关节参数也可以修改。请注意，Isaac Sim " +"UI默认角的单位为度。值得注意的是，``DriveAPI``中的“阻尼”和“刚度”参数在Isaac Sim " +"UI中的单位为``1/deg`，但在Isaac Gym预览版中的单位为``1/rad`。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:344 +msgid "Joint Parameter" +msgstr "关节参数" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:346 +msgid "Default Value in Isaac Gym Preview Releases" +msgstr "Isaac Gym预览版本中的默认值" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:347 +msgid "Maximum Joint Velocity" +msgstr "最大关节速度" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:348 +msgid "1000000.0 (deg)" +msgstr "1000000.0（度）" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:349 +msgid "100.0 (rad)" +msgstr "100.0（弧度）" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:353 +msgid "Cloner" +msgstr "克隆程序" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:355 +msgid "" +"Isaac Sim introduced a concept of ``Cloner``, which is a class designed for " +"replication during the scene creation process. In IsaacGymEnvs, scenes had " +"to be created by looping through the number of environments. Within each " +"iteration, actors were added to each environment and their handles had to be" +" cached. Isaac Lab eliminates the need for looping through the environments " +"by using the ``Cloner`` APIs. The scene creation process is as follow:" +msgstr "" +"Isaac " +"Sim引入了“克隆器”的概念，这是一个在场景创建过程中用于复制的类。在IsaacGymEnvs中，必须循环遍历环境的数量来创建场景。在每次迭代中，演员被添加到每个环境中，并且必须缓存它们的句柄。Isaac" +" Lab通过使用``克隆器``API来消除循环通过环境依次。场景创建过程如下：" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:361 +msgid "" +"Construct a single environment (what the scene would look like if number of " +"environments = 1)" +msgstr "构建一个单个环境（如果环境数=1，则场景将是什么样子）" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:362 +msgid "Call ``clone_environments()`` to replicate the single environment" +msgstr "调用“clone_environments()”来复制单个环境" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:363 +msgid "" +"Call ``filter_collisions()`` to filter out collision between environments " +"(if required)" +msgstr "调用“filter_collisions()”来过滤环境之间的碰撞（如果需要）" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:377 +msgid "Accessing States from Simulation" +msgstr "在模拟中访问状态" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:379 +msgid "" +"APIs for accessing physics states in Isaac Lab require the creation of an " +":class:`~assets.Articulation` or :class:`~assets.RigidObject` object. " +"Multiple objects can be initialized for different articulations or rigid " +"bodies in the scene by defining corresponding " +":class:`~assets.ArticulationCfg` or :class:`~assets.RigidObjectCfg` config " +"as outlined in the section above. This approach eliminates the need of " +"retrieving body handles to slice states for specific bodies in the scene." +msgstr "" +"Isaac " +"Lab中访问物理状态的API需要创建:class:`~assets.Articulation`或:class:`~assets.RigidObject`对象。可以通过在上面概述的对应:class:`~assets.ArticulationCfg`或:class:`~assets.RigidObjectCfg`配置中定义不同的关节或刚体的多个对象来初始化多个对象。该方法消除了分割状态的需要以适用于场景中的特定物体。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:392 +msgid "" +"We have also removed ``acquire`` and ``refresh`` APIs in Isaac Lab. Physics " +"states can be directly applied or retrieved using APIs defined for the " +"articulations and rigid objects." +msgstr "" +"我们还需**_提Isaac Lab中删除了“acquire”和“refresh”APIs.可以直接使用为关节和刚体定义的APIs直接应用或检索物理状态。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:395 +msgid "" +"APIs provided in Isaac Lab no longer require explicit wrapping and un-" +"wrapping of underlying buffers. APIs can now work with tensors directly for " +"reading and writing data." +msgstr "Isaac Lab提供的APIs不再需要显式包装和解包底层缓冲区。APIs现在可以直接用于读取和写入数据。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:408 +msgid "" +"Note some naming differences between APIs in Isaac Gym Preview Release and " +"Isaac Lab. Most ``dof`` related APIs have been named to ``joint`` in Isaac " +"Lab. APIs in Isaac Lab also no longer follow the explicit ``_tensors`` or " +"``_tensor_indexed`` suffixes in naming. Indexed versions of APIs now happen " +"implicitly through the optional ``indices`` parameter." +msgstr "'''" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:413 +msgid "" +"Most APIs in Isaac Lab also provide the option to specify an ``indices`` " +"parameter, which can be used when reading or writing data for a subset of " +"environments. Note that when setting states with the ``indices`` parameter, " +"the shape of the states buffer should match with the dimension of the " +"``indices`` list." +msgstr "" +"Isaac " +"Lab中的大多数APIs还提供了指定“indices”参数的选项，该参数用于读取或写入一部分环境的数据。请注意，当使用“indices”参数设置状态时，状态缓冲区的形状应与“indices”列表的维度相匹配。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:430 +msgid "Quaternion Convention" +msgstr "四元数约定" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:432 +msgid "" +"Isaac Lab and Isaac Sim both adopt ``wxyz`` as the quaternion convention. " +"However, the quaternion convention used in Isaac Gym Preview Release was " +"``xyzw``. Remember to switch all quaternions to use the ``xyzw`` convention " +"when working indexing rotation data. Similarly, please ensure all " +"quaternions are in ``wxyz`` before passing them to Isaac Lab APIs." +msgstr "" +"Isaac Lab和Isaac Sim都采用“wxyz”作为四元数约定。但是，Isaac " +"Gym的预览版中使用的是“xyzw”四元数约定。在处理旋转数据的索引时，请记住将所有四元数切换到使用“xyzw”约定。同样，请确保使用“wxyz”将它们传递给Isaac" +" Lab的APIs之前都在“wxyz”中。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:439 +msgid "Articulation Joint Order" +msgstr "关节顺序" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:441 +msgid "" +"Physics simulation in Isaac Sim and Isaac Lab assumes a breadth-first " +"ordering for the joints in a given kinematic tree. However, Isaac Gym " +"Preview Release assumed a depth-first ordering for joints in the kinematic " +"tree. This means that indexing joints based on their ordering may be " +"different in IsaacGymEnvs and Isaac Lab." +msgstr "" +"Isaac Sim和Isaac " +"Lab中的物理模拟都假定给定运动树中的关节是广度优先顺序。但是IsaacGymEnvs中假定的是运动树中关节的深度优先顺序。这意味着根据它们的顺序索引关节在IsaacGymEnvs和Isaac" +" Lab中可能不同。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:446 +msgid "" +"In Isaac Lab, the list of joint names can be retrieved with " +"``Articulation.data.joint_names``, which will also correspond to the " +"ordering of the joints in the Articulation." +msgstr "" +"在Isaac " +"Lab中，可以使用“Articulation.data.joint_names”获取关节名称列表，它将与Articulation中关节的排序相对应。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:451 +msgid "Creating a New Environment" +msgstr "创建新环境" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:453 +msgid "" +"Each environment in Isaac Lab should be in its own directory following this " +"structure:" +msgstr "Isaac Lab中的每个环境都应该位于自己的目录中，遵循以下结构：" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:464 +msgid "``my_environment`` is the root directory of the task." +msgstr "“my_environment”是任务的根目录。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:465 +msgid "" +"``my_environment/agents`` is the directory containing all RL config files " +"for the task. Isaac Lab supports multiple RL libraries that can each have " +"its own individual config file." +msgstr "" +"“my_environment/agents”是包含任务的所有RL配置文件的目录。Isaac Lab支持多个RL库，每个库都可以有自己的独立配置文件。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:466 +msgid "" +"``my_environment/__init__.py`` is the main file that registers the " +"environment with the Gymnasium interface. This allows the training and " +"inferencing scripts to find the task by its name. The content of this file " +"should be as follow:" +msgstr "" +"“my_environment/__init__.py”是使用Gymnasium接口向环境注册任务的主文件。这样可以使训练和推断脚本根据名称找到任务。此文件的内容应如下所示：" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:489 +msgid "" +"``my_environment/my_env.py`` is the main python script that implements the " +"task logic and task config class for the environment." +msgstr "“my_environment/my_env.py”是实现环境的任务逻辑和任务配置类的主要python脚本。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:493 +msgid "Task Logic" +msgstr "任务逻辑" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:495 +msgid "" +"In Isaac Lab, the ``post_physics_step`` function has been moved to the " +"framework in the base class. Tasks are not required to implement this " +"method, but can choose to override it if a different workflow is desired." +msgstr "**" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:498 +msgid "By default, Isaac Lab follows the following flow in logic:" +msgstr "默认情况下，Isaac Lab遵循以下逻辑流程:" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:516 +msgid "" +"In Isaac Lab, we also separate the ``pre_physics_step`` API for processing " +"actions from the policy with the ``apply_action`` API, which sets the " +"actions into the simulation. This provides more flexibility in controlling " +"when actions should be written to simulation when ``decimation`` is used. " +"``pre_physics_step`` will be called once per step before stepping " +"simulation. ``apply_actions`` will be called ``decimation`` number of times " +"for each RL step, once before each simulation step call." +msgstr "" +"在Isaac " +"Lab中，我们还将“pre_physics_step”API用于处理策略的动作与“apply_action”API分离，后者设置动作到模拟中。这在使用“decimation”时提供了更多控制动作何时应写入模拟。每一步将调用“pre_physics_step”一次，然后“apply_actions”将在每个RL步骤调用“decimation”次数，即在每次模拟步骤之前调用。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:522 +msgid "" +"With this approach, resets are performed based on actions from the current " +"step instead of the previous step. Observations will also be computed with " +"the correct states after resets." +msgstr "使用这种方法，重置将基于当前步骤的动作执行，而不是之前的步骤。观察也将在重置后使用正确的状态进行计算。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:525 +msgid "We have also performed some renamings of APIs:" +msgstr "我们还已对API进行了一些重命名：" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:527 +msgid "``create_sim(self)`` --> ``_setup_scene(self)``" +msgstr "“create_sim(self)” --> “_setup_scene(self)”" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:528 +msgid "" +"``pre_physics_step(self, actions)`` --> ``_pre_physics_step(self, actions)``" +" and ``_apply_action(self)``" +msgstr "" +"“pre_physics_step(self, actions)” -->“_pre_physics_step(self, " +"actions)”和“_apply_action(self)”" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:529 +msgid "``reset_idx(self, env_ids)`` --> ``_reset_idx(self, env_ids)``" +msgstr "“reset_idx(self, env_ids)” -->“_reset_idx(self, env_ids)”" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:530 +msgid "" +"``compute_observations(self)`` --> ``_get_observations(self)`` - " +"``_get_observations()`` should now return a dictionary ``{\"policy\": obs}``" +msgstr "" +"“compute_observations(self)” -->“_get_observations(self)”- " +"“_get_observations()”现在应该返回一个字典“{\"policy\": obs}”" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:531 +msgid "" +"``compute_reward(self)`` --> ``_get_rewards(self)`` - ``_get_rewards()`` " +"should now return the reward buffer" +msgstr "" +"“compute_reward(self)” -->“_get_rewards(self)”- “_get_rewards()”现在应返回奖励缓冲区" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:532 +msgid "``post_physics_step(self)`` --> moved to the base class" +msgstr "“post_physics_step(self)” -->移至基类" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:533 +msgid "" +"In addition, Isaac Lab requires the implementation of ``_is_done(self)``, " +"which should return two buffers: the ``reset`` buffer and the ``time_out`` " +"buffer." +msgstr "此外，Isaac Lab要求实现“_is_done(self)”应返回两个缓冲区：\"reset\"缓冲区和=\"quit\"缓冲区。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:537 +msgid "Putting It All Together" +msgstr "将所有内容汇总" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:539 +msgid "" +"The Cartpole environment is shown here in completion to fully show the " +"comparison between the IsaacGymEnvs implementation and the Isaac Lab " +"implementation." +msgstr "Cartpole环境在这里完成，以充分展示IsaacGymEnvs实现和Isaac Lab实现之间的比较。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:595 +msgid "Task Setup" +msgstr "任务设置" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:597 +msgid "" +"Isaac Lab no longer requires pre-initialization of buffers through the " +"``acquire_*`` APIs that were used in IsaacGymEnvs. It is also no longer " +"necessary to ``wrap`` and ``unwrap`` tensors." +msgstr "" +"Isaac " +"Lab不再需要通过IsaacGymEnvs中使用的“**acquire**”APIs预初始化缓冲区。也不再需要“wrap”和“unwrap”张量。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:636 +msgid "Scene Setup" +msgstr "场景设置" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:638 +msgid "" +"Scene setup is now done through the ``Cloner`` API and by specifying actor " +"attributes in config objects. This eliminates the need to loop through the " +"number of environments to set up the environments and avoids the need to set" +" simulation parameters for actors in the task implementation." +msgstr "" +"现在通过``Cloner`` " +"API和在配置对象中指定actor属性来进行场景设置。这样可以消除需要循环遍历环境数量来设置环境以及避免在任务实现中设置演员仿真参数的需要。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:731 +msgid "Pre and Post Physics Step" +msgstr "物理步骤前后" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:733 +msgid "" +"In IsaacGymEnvs, due to limitations of the GPU APIs, observations had stale " +"data when environments had to perform resets. This restriction has been " +"eliminated in Isaac Lab, and thus, tasks follow the correct workflow of " +"applying actions, stepping simulation, collecting states, computing dones, " +"calculating rewards, performing resets, and finally computing observations. " +"This workflow is done automatically by the framework such that a " +"``post_physics_step`` API is not required in the task. However, individual " +"tasks can override the ``step()`` API to control the workflow." +msgstr "" +"在IsaacGymEnvs中，由于GPU API的限制，在环境执行重置时观察数据会过时。在Isaac " +"Lab中消除了这一限制，因此任务遵循了正确的工作流程，即应用动作、执行仿真、收集状态数据、计算完成标志、计算奖励、执行重置，最后计算观察。这一工作流程由框架自动完成，因此任务不需要``post_physics_step``" +" API。但是，个别任务可以重写``step()`` API以控制工作流程。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:740 +msgid "IsaacLab" +msgstr "IsaacLab" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:768 +msgid "Dones and Resets" +msgstr "完成标志和重置" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:770 +msgid "" +"In Isaac Lab, ``dones`` are computed in the ``_get_dones()`` method and " +"should return two variables: ``resets`` and ``time_out``. Tracking of the " +"``progress_buf`` has been moved to the base class and is now automatically " +"incremented and reset by the framework. The ``progress_buf`` variable has " +"also been renamed to ``episode_length_buf``." +msgstr "" +"在Isaac " +"Lab中，``dones``是在``_get_dones()``方法中计算的，应返回两个变量：``resets``和``time_out``。``progress_buf``的跟踪已移至基类，并由框架自动递增和重置。``progress_buf``变量也已重命名为``episode_length_buf``。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:821 +msgid "Observations" +msgstr "观察" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:823 +msgid "" +"In Isaac Lab, the ``_get_observations()`` API should now return a dictionary" +" containing the ``policy`` key with the observation buffer as the value. For" +" asymmetric policies, the dictionary should also include a ``critic`` key " +"that holds the state buffer." +msgstr "" +"在Isaac Lab中，``_get_observations()`` " +"API现在应返回一个包含``policy``键和观察缓冲区作为值的字典。对于非对称策略，字典还应包括一个包含状态缓冲区的``critic``键。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:848 +msgid "Rewards" +msgstr "奖励" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:850 +msgid "" +"In Isaac Lab, the reward method ``_get_rewards`` should return the reward " +"buffer as a return value. Similar to IsaacGymEnvs, computations in the " +"reward function can also be performed using pytorch jit by adding the " +"``@torch.jit.script`` annotation." +msgstr "" +"在Isaac " +"Lab中，奖励方法``_get_rewards``应将奖励缓冲区作为返回值。与IsaacGymEnvs类似，奖励函数中的计算也可以通过添加``@torch.jit.script``注释来使用pytorch" +" jit执行。" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:903 +msgid "Launching Training" +msgstr "启动训练" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:905 +msgid "To launch a training in Isaac Lab, use the command:" +msgstr "要在Isaac Lab中启动训练，请使用以下命令：" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:912 +msgid "Launching Inferencing" +msgstr "启动推断" + +#: ../../source/migration/migrating_from_isaacgymenvs.rst:914 +msgid "To launch inferencing in Isaac Lab, use the command:" +msgstr "要在Isaac Lab中启动推断，请使用以下命令：" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/migration/migrating_from_omniisaacgymenvs.po b/docs/locale/zh_CN/LC_MESSAGES/source/migration/migrating_from_omniisaacgymenvs.po new file mode 100644 index 0000000000..1525fa22fc --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/migration/migrating_from_omniisaacgymenvs.po @@ -0,0 +1,736 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:4 +msgid "From OmniIsaacGymEnvs" +msgstr "从 OmniIsaacGymEnvs" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:9 +msgid "" +"`OmniIsaacGymEnvs`_ was a reinforcement learning framework using the Isaac " +"Sim platform. Features from OmniIsaacGymEnvs have been integrated into the " +"Isaac Lab framework. We have updated OmniIsaacGymEnvs to Isaac Sim version " +"4.0.0 to support the migration process to Isaac Lab. Moving forward, " +"OmniIsaacGymEnvs will be deprecated and future development will continue in " +"Isaac Lab." +msgstr "" +"`OmniIsaacGymEnvs`_ 是一个使用Isaac Sim平台的强化学习框架。来自OmniIsaacGymEnvs的功能已集成到Isaac " +"Lab框架中。我们已将OmniIsaacGymEnvs更新到Isaac Sim版本4.0.0，以支持迁移流程到Isaac " +"Lab。未来，OmniIsaacGymEnvs将被弃用，未来的开发将继续在Isaac Lab中进行。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:17 +msgid "Task Config Setup" +msgstr "任务配置设置" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:19 +msgid "" +"In OmniIsaacGymEnvs, task config files were defined in ``.yaml`` format. " +"With Isaac Lab, configs are now specified using a specialized Python class " +":class:`~omni.isaac.lab.utils.configclass`. The " +":class:`~omni.isaac.lab.utils.configclass` module provides a wrapper on top " +"of Python's ``dataclasses`` module. Each environment should specify its own " +"config class annotated by ``@configclass`` that inherits from the " +":class:`~envs.DirectRLEnvCfg` class, which can include simulation " +"parameters, environment scene parameters, robot parameters, and task-" +"specific parameters." +msgstr "" +"在OmniIsaacGymEnvs中，任务配置文件是以``.yaml``格式定义的。在Isaac Lab中，现在使用一个专门的Python类 " +":class:`~omni.isaac.lab.utils.configclass` " +"来指定配置。:class:`~omni.isaac.lab.utils.configclass` " +"模块在Python的``dataclasses``模块之上提供了一个包装器。每个环境都应指定其自己的配置类，该类由``@configclass``注释，并且继承自:class:`~envs.DirectRLEnvCfg`类，可以包括模拟参数、环境场景参数、机器人参数和特定任务参数。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:26 +msgid "Below is an example skeleton of a task config class:" +msgstr "以下是任务配置类的范例框架：" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:52 +msgid "Simulation Config" +msgstr "模拟配置" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:54 +msgid "" +"Simulation related parameters are defined as part of the " +":class:`~omni.isaac.lab.sim.SimulationCfg` class, which is a " +":class:`~omni.isaac.lab.utils.configclass` module that holds simulation " +"parameters such as ``dt``, ``device``, and ``gravity``. Each task config " +"must have a variable named ``sim`` defined that holds the type " +":class:`~omni.isaac.lab.sim.SimulationCfg`." +msgstr "" +"与模拟相关的参数定义在:class:`~omni.isaac.lab.sim.SimulationCfg`类中，这是一个:class:`~omni.isaac.lab.utils.configclass`模块，包含模拟参数，如``dt``、``device``和``gravity``。每个任务配置必须有一个名为``sim``的变量来定义一个类型为:class:`~omni.isaac.lab.sim.SimulationCfg`的对象。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:59 +msgid "" +"Simulation parameters for articulations and rigid bodies such as " +"``num_position_iterations``, ``num_velocity_iterations``, " +"``contact_offset``, ``rest_offset``, ``bounce_threshold_velocity``, " +"``max_depenetration_velocity`` can all be specified on a per-actor basis in " +"the config class for each individual articulation and rigid body." +msgstr "" +"对于关节和刚性体的模拟参数，如``num_position_iterations``、``num_velocity_iterations``、``contact_offset``、``rest_offset``、``bounce_threshold_velocity``、``max_depenetration_velocity``，都可以在每个独立关节和刚性体的配置类中指定。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:63 +msgid "" +"When running simulation on the GPU, buffers in PhysX require pre-allocation " +"for computing and storing information such as contacts, collisions and " +"aggregate pairs. These buffers may need to be adjusted depending on the " +"complexity of the environment, the number of expected contacts and " +"collisions, and the number of actors in the environment. The " +":class:`~omni.isaac.lab.sim.PhysxCfg` class provides access for setting the " +"GPU buffer dimensions." +msgstr "" +"在GPU上运行模拟时，PhysX中的缓冲区需要进行预先分配，用于计算和存储接触、碰撞和聚合对等信息。这些缓冲区可能需要根据环境的复杂性、预期接触和碰撞的数量以及环境中的参与者数量进行调整。:class:`~omni.isaac.lab.sim.PhysxCfg`类提供了访问设置GPU缓冲区尺寸的功能。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:116 +msgid "" +"Parameters such as ``add_ground_plane`` and ``add_distant_light`` are now " +"part of the task logic when creating the scene. ``enable_cameras`` is now a " +"command line argument ``--enable_cameras`` that can be passed directly to " +"the training script." +msgstr "" +"现在的参数，比如``add_ground_plane``和``add_distant_light``，都是在创建场景时的任务逻辑的一部分。``enable_cameras``现在是一个命令行参数``--enable_cameras``，可以直接传递给训练脚本。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:121 +msgid "Scene Config" +msgstr "场景配置" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:123 +msgid "" +"The :class:`~omni.isaac.lab.scene.InteractiveSceneCfg` class can be used to " +"specify parameters related to the scene, such as the number of environments " +"and the spacing between environments. Each task config must have a variable " +"named ``scene`` defined that holds the type " +":class:`~omni.isaac.lab.scene.InteractiveSceneCfg`." +msgstr "" +":class:`~omni.isaac.lab.scene.InteractiveSceneCfg`类可以指定与场景相关的参数，比如环境的数量和环境之间的间距。每个任务配置必须有一个名为``scene``的变量来定义一个类型为:class:`~omni.isaac.lab.scene.InteractiveSceneCfg`的对象。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:138 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:473 +msgid "Task Config" +msgstr "任务配置" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:140 +msgid "" +"Each environment should specify its own config class that holds task " +"specific parameters, such as the dimensions of the observation and action " +"buffers. Reward term scaling parameters can also be specified in the config " +"class." +msgstr "每个环境都应该指定自己的配置类，其中包括特定任务的参数，比如观察和动作缓冲区的尺寸。还可以在配置类中指定奖励项的缩放参数。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:143 +msgid "" +"In Isaac Lab, the ``controlFrequencyInv`` parameter has been renamed to " +"``decimation``, which must be specified as a parameter in the config class." +msgstr "在Isaac Lab中，``controlFrequencyInv``参数被重命名为``decimation``，必须在配置类中指定。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:146 +msgid "" +"In addition, the maximum episode length parameter (now ``episode_length_s``)" +" is in seconds instead of steps as it was in OmniIsaacGymEnvs. To convert " +"between step count to seconds, use the equation: ``episode_length_s = dt * " +"decimation * num_steps``." +msgstr "" +"此外，最大的episode长度参数（现在是``episode_length_s``）是以秒为单位，而不是像在OmniIsaacGymEnvs中的步数那样。要在步数和秒之间进行转换，使用以下公式:" +" ``episode_length_s = dt * decimation * num_steps``。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:150 +msgid "The following parameters must be set for each environment config:" +msgstr "每个环境配置都必须设置以下参数：" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:162 +msgid "RL Config Setup" +msgstr "强化学习配置设置" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:164 +msgid "" +"RL config files for the rl_games library can continue to be defined in " +"``.yaml`` files in Isaac Lab. Most of the content of the config file can be " +"copied directly from OmniIsaacGymEnvs. Note that in Isaac Lab, we do not use" +" hydra to resolve relative paths in config files. Please replace any " +"relative paths such as ``${....device}`` with the actual values of the " +"parameters." +msgstr "" +"在Isaac " +"Lab中，rl_games库的配置文件仍然可以在``.yaml``文件中定义。大部分配置文件的内容可以直接从OmniIsaacGymEnvs中复制过来。请注意，在Isaac" +" Lab中，我们不使用hydra来解析配置文件中的相对路径。请用实际参数值替换任何相对路径，比如``${....device}``。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:169 +msgid "" +"Additionally, the observation and action clip ranges have been moved to the " +"RL config file. For any ``clipObservations`` and ``clipActions`` parameters " +"that were defined in the IsaacGymEnvs task config file, they should be moved" +" to the RL config file in Isaac Lab." +msgstr "" +"此外，观察和动作的剪切范围已经移到了RL配置文件中。对于在IsaacGymEnvs任务配置文件中定义的任何``clipObservations``和``clipActions``参数，现在应该将它们移动到Isaac" +" Lab的RL配置文件中。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:175 +msgid "IsaacGymEnvs Task Config" +msgstr "IsaacGymEnvs任务配置" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:175 +msgid "Isaac Lab RL Config" +msgstr "Isaac Lab RL配置" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:187 +msgid "Environment Creation" +msgstr "环境创建" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:189 +msgid "" +"In OmniIsaacGymEnvs, environment creation generally happened in the " +"``set_up_scene()`` API, which involved creating the initial environment, " +"cloning the environment, filtering collisions, adding the ground plane and " +"lights, and creating the ``View`` classes for the actors." +msgstr "" +"在OmniIsaacGymEnvs中，环境的创建通常在``set_up_scene()``API中进行，这涉及创建初始环境、克隆环境、过滤碰撞、添加地面和光线，并为参与者创建``View``类。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:193 +msgid "" +"Similar functionality is performed in Isaac Lab in the ``_setup_scene()`` " +"API. The main difference is that the base class ``_setup_scene()`` no longer" +" performs operations for cloning the environment and adding ground plane and" +" lights. Instead, these operations should now be implemented in individual " +"tasks' ``_setup_scene`` implementations to provide more flexibility around " +"the scene setup process." +msgstr "" +"在Isaac " +"Lab中，类似的功能在``_setup_scene()``API中执行。主要区别在于基类``_setup_scene()``不再执行克隆环境和添加地面和光线的操作。相反，这些操作现在应该在各个任务的``_setup_scene``实现中实现，以提供更灵活的场景设置过程。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:199 +msgid "" +"Also note that by defining an ``Articulation`` or ``RigidObject`` object, " +"the actors will be added to the scene by parsing the ``spawn`` parameter in " +"the actor config and a ``View`` class will automatically be created for the " +"actor. This avoids the need to separately define an ``ArticulationView`` or " +"``RigidPrimView`` object for the actors." +msgstr "" +"还要注意，通过定义``Articulation``或``RigidObject``对象，将根据actor配置中的``spawn``参数将actor添加到场景，并自动为actor创建``View``类。这避免了需要为actor单独定义``ArticulationView``或``RigidPrimView``对象的需要。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:206 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:332 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:348 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:436 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:478 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:569 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:622 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:661 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:699 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:756 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:810 +msgid "OmniIsaacGymEnvs" +msgstr "OmniIsaacGymEnvs" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:206 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:332 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:348 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:436 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:478 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:569 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:622 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:699 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:756 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:810 +msgid "Isaac Lab" +msgstr "Isaac Lab" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:226 +msgid "Ground Plane" +msgstr "地面" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:228 +msgid "" +"In addition to the above example, more sophisticated ground planes can be " +"defined using the :class:`~terrains.TerrainImporterCfg` class." +msgstr "除了上面的例子之外，更复杂的地面可以使用:class:`~terrains.TerrainImporterCfg`类进行定义。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:247 +msgid "" +"The terrain can then be added to the scene in ``_setup_scene(self)`` by " +"referencing the ``TerrainImporterCfg`` object:" +msgstr "然后，地形可以通过引用``TerrainImporterCfg``对象在``_setup_scene(self)``中添加到场景中：" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:259 +msgid "Actors" +msgstr "参与者" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:261 +msgid "" +"In Isaac Lab, each Articulation and Rigid Body actor can have its own config" +" class. The :class:`~omni.isaac.lab.assets.ArticulationCfg` class can be " +"used to define parameters for articulation actors, including file path, " +"simulation parameters, actuator properties, and initial states." +msgstr "" +"在Isaac " +"Lab中，每个关节和刚体actor可以有自己的配置类。:class:`~omni.isaac.lab.assets.ArticulationCfg`类可用于定义关节actor的参数，包括文件路径、模拟参数、执行器属性和初始状态。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:305 +msgid "" +"Within the :class:`~assets.ArticulationCfg`, the ``spawn`` attribute can be " +"used to add the robot to the scene by specifying the path to the robot file." +" In addition, the " +":class:`~omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg` class can be " +"used to specify simulation properties for the rigid bodies in the " +"articulation. Similarly, the " +":class:`~omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg` class can" +" be used to specify simulation properties for the articulation. The joint " +"properties are now specified as part of the ``actuators`` dictionary using " +":class:`~actuators.ImplicitActuatorCfg`. Joints with the same properties can" +" be grouped into regex expressions or provided as a list of names or " +"expressions." +msgstr "" +"在:class:`~assets.ArticulationCfg`内部，``spawn``属性可以用于通过指定机器人文件的路径将机器人添加到场景。此外，:class:`~omni.isaac.lab.sim.schemas.RigidBodyPropertiesCfg`类可用于为关节中的刚体指定模拟属性。同样，:class:`~omni.isaac.lab.sim.schemas.ArticulationRootPropertiesCfg`类可以用于为关节指定模拟属性。使用:class:`~actuators.ImplicitActuatorCfg`，相同属性的关节可以被分组到正则表达式中，或者提供一个名称或表达式列表。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:313 +msgid "" +"Actors are added to the scene by simply calling ``self.cartpole = " +"Articulation(self.cfg.robot_cfg)``, where ``self.cfg.robot_cfg`` is an " +":class:`~assets.ArticulationCfg` object. Once initialized, they should also " +"be added to the :class:`~scene.InteractiveScene` by calling " +"``self.scene.articulations[\"cartpole\"] = self.cartpole`` so that the " +":class:`~scene.InteractiveScene` can traverse through actors in the scene " +"for writing values to the simulation and resetting." +msgstr "" +"通过简单调用``self.cartpole = " +"Articulation(self.cfg.robot_cfg)``来将参与者添加到场景，其中``self.cfg.robot_cfg``是一个:class:`~assets.ArticulationCfg`对象。初始化后，它们也应该被添加到:class:`~scene.InteractiveScene`中，通过调用``self.scene.articulations[\"cartpole\"]" +" = " +"self.cartpole``，从而使:class:`~scene.InteractiveScene`能够遍历场景中的actors，以便向模拟中写入值并进行重置。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:321 +msgid "Accessing States from Simulation" +msgstr "从模拟中获取状态" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:323 +msgid "" +"APIs for accessing physics states in Isaac Lab require the creation of an " +":class:`~assets.Articulation` or :class:`~assets.RigidObject` object. " +"Multiple objects can be initialized for different articulations or rigid " +"bodies in the scene by defining corresponding " +":class:`~assets.ArticulationCfg` or :class:`~assets.RigidObjectCfg` config, " +"as outlined in the section above. This replaces the previously used " +":class:`~omni.isaac.core.articulations.ArticulationView` and " +":class:`omni.isaac.core.prims.RigidPrimView` classes used in " +"OmniIsaacGymEnvs." +msgstr "" +"在Isaac " +"Lab中，访问物理状态的API需要创建一个:class:`~assets.Articulation`或:class:`~assets.RigidObject`对象。可以通过定义对应的:class:`~assets.ArticulationCfg`或:class:`~assets.RigidObjectCfg`配置来初始化不同的关节或刚体对象。这取代了在OmniIsaacGymEnvs中使用的:class:`~omni.isaac.core.articulations.ArticulationView`和:class:`omni.isaac.core.prims.RigidPrimView`类。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:329 +msgid "However, functionality between the classes are similar:" +msgstr "但是，这些类之间的功能是相似的:" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:340 +msgid "" +"In Isaac Lab, :class:`~assets.Articulation` and :class:`~assets.RigidObject`" +" classes both have a ``data`` class. The data classes " +"(:class:`~assets.ArticulationData` and :class:`~assets.RigidObjectData`) " +"contain buffers that hold the states for the articulation and rigid objects " +"and provide a more performant way of retrieving states from the actors." +msgstr "" +"在Isaac " +"Lab中，:class:`~assets.Articulation`和:class:`~assets.RigidObject`类都有一个``data``类。data类（:class:`~assets.ArticulationData`和:class:`~assets.RigidObjectData`）包含了保存关节和刚体状态的缓冲区，并提供了一种更高效的方式从actors中检索状态。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:345 +msgid "" +"Apart from some renamings of APIs, setting states for actors can also be " +"performed similarly between OmniIsaacGymEnvs and Isaac Lab." +msgstr "除了一些API的重命名，设置actors的状态也可以在OmniIsaacGymEnvs和Isaac Lab中类似地进行。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:357 +msgid "" +"In Isaac Lab, ``root_pose`` and ``root_velocity`` have been combined into " +"single buffers and no longer split between ``root_position``, " +"``root_orientation``, ``root_linear_velocity`` and " +"``root_angular_velocity``." +msgstr "" +"在Isaac Lab中，``root_pose`` 和 ``root_velocity`` 已经合并为单个缓冲区，不再分为 " +"``root_position``、``root_orientation``、``root_linear_velocity`` 和 " +"``root_angular_velocity``。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:367 +msgid "Creating a New Environment" +msgstr "创建一个新的环境" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:369 +msgid "" +"Each environment in Isaac Lab should be in its own directory following this " +"structure:" +msgstr "Isaac Lab中的每个环境都应该按照以下结构放在自己的目录中:" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:380 +msgid "``my_environment`` is the root directory of the task." +msgstr "``my_environment`` 是任务的根目录。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:381 +msgid "" +"``my_environment/agents`` is the directory containing all RL config files " +"for the task. Isaac Lab supports multiple RL libraries that can each have " +"its own individual config file." +msgstr "" +"``my_environment/agents`` 是包含任务的所有RL配置文件的目录。Isaac " +"Lab支持多个RL库，每个库可以有自己独立的配置文件。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:383 +msgid "" +"``my_environment/__init__.py`` is the main file that registers the " +"environment with the Gymnasium interface. This allows the training and " +"inferencing scripts to find the task by its name. The content of this file " +"should be as follow:" +msgstr "" +"``my_environment/__init__.py`` " +"是将环境注册到Gymnasium接口的主文件。这使得训练和推理脚本可以通过名称找到任务。此文件的内容应该如下:" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:408 +msgid "" +"``my_environment/my_env.py`` is the main python script that implements the " +"task logic and task config class for the environment." +msgstr "``my_environment/my_env.py`` 是实现任务逻辑和环境的主要Python脚本。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:413 +msgid "Task Logic" +msgstr "任务逻辑" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:415 +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:564 +msgid "" +"The ``post_reset`` API in OmniIsaacGymEnvs is no longer required in Isaac " +"Lab. Everything that was previously done in ``post_reset`` can be done in " +"the ``__init__`` method after executing the base class's ``__init__``. At " +"this point, simulation has already started." +msgstr "" +"在Isaac " +"Lab中，不再需要``post_reset``API。以往在``post_reset``中所做的所有操作现在可以在执行基类的``__init__``方法后的``__init__``方法中完成。此时，模拟已经开始。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:419 +msgid "" +"In OmniIsaacGymEnvs, due to limitations of the GPU APIs, resets could not be" +" performed based on states of the current step. Instead, resets have to be " +"performed at the beginning of the next time step. This restriction has been " +"eliminated in Isaac Lab, and thus, tasks follow the correct workflow of " +"applying actions, stepping simulation, collecting states, computing dones, " +"calculating rewards, performing resets, and finally computing observations. " +"This workflow is done automatically by the framework such that a " +"``post_physics_step`` API is not required in the task. However, individual " +"tasks can override the ``step()`` API to control the workflow." +msgstr "" +"在OmniIsaacGymEnvs中，由于GPU API的限制，重置不能根据当前步骤的状态进行。相反，重置必须在下一个时间步骤的开始时执行。在Isaac" +" " +"Lab中，这个限制已经被取消，因此任务遵循应用动作、模拟步进、收集状态、计算done、计算奖励、执行重置和最终计算观察结的正确工作流程。这个工作流程是由框架自动完成的，因此任务不需要``post_physics_step``API。但是，每个任务都可以覆盖``step()``API以控制工作流程。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:426 +msgid "" +"In Isaac Lab, we also separate the ``pre_physics_step`` API for processing " +"actions from the policy with the ``apply_action`` API, which sets the " +"actions into the simulation. This provides more flexibility in controlling " +"when actions should be written to simulation when ``decimation`` is used. " +"The ``pre_physics_step`` method will be called once per step before stepping" +" simulation. The ``apply_actions`` method will be called ``decimation`` " +"number of times for each RL step, once before each simulation step call." +msgstr "" +"在Isaac实验室中，我们还将``pre_physics_step`` API与``apply_action`` " +"API分开处理，前者用于处理来自策略的动作，后者则将动作设置到模拟过程中。这样可以更灵活地控制在何时使用``decimation``时将动作写入模拟过程中。在每一步之前，``pre_physics_step``方法都将被调用一次。而``apply_actions``方法将在每个RL步骤之前调用``decimation``次，即在每次模拟调用之前调用一次。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:433 +msgid "The ordering of the calls are as follow:" +msgstr "调用的顺序如下：" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:451 +msgid "" +"With this approach, resets are performed based on actions from the current " +"step instead of the previous step. Observations will also be computed with " +"the correct states after resets." +msgstr "采用这种方法，重置是根据当前步骤的动作而不是上一步来执行的。重置之后还可以根据正确的状态计算观察值。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:454 +msgid "We have also performed some renamings of APIs:" +msgstr "我们还对API进行了一些重命名：" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:456 +msgid "``set_up_scene(self, scene)`` --> ``_setup_scene(self)``" +msgstr "``set_up_scene(self, scene)`` --> ``_setup_scene(self)``" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:457 +msgid "``post_reset(self)`` --> ``__init__(...)``" +msgstr "``post_reset(self)`` --> ``__init__(...)``" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:458 +msgid "" +"``pre_physics_step(self, actions)`` --> ``_pre_physics_step(self, actions)``" +" and ``_apply_action(self)``" +msgstr "" +"``pre_physics_step(self, actions)`` --> ``_pre_physics_step(self, actions)``" +" and ``_apply_action(self)``" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:459 +msgid "``reset_idx(self, env_ids)`` --> ``_reset_idx(self, env_ids)``" +msgstr "``reset_idx(self, env_ids)`` --> ``_reset_idx(self, env_ids)``" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:460 +msgid "" +"``get_observations(self)`` --> ``_get_observations(self)`` - " +"``_get_observations()`` should now return a dictionary ``{\"policy\": obs}``" +msgstr "" +"``get_observations(self)`` --> ``_get_observations(self)`` - " +"``_get_observations()``现在应该返回一个字典``{\"policy\": obs}``" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:461 +msgid "" +"``calculate_metrics(self)`` --> ``_get_rewards(self)`` - ``_get_rewards()`` " +"should now return the reward buffer" +msgstr "" +"``calculate_metrics(self)`` --> ``_get_rewards(self)`` - " +"``_get_rewards()``现在应该返回奖励缓冲区" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:462 +msgid "" +"``is_done(self)`` --> ``_get_dones(self)`` - ``_get_dones()`` should now " +"return 2 buffers: ``reset`` and ``time_out`` buffers" +msgstr "" +"``is_done(self)`` --> ``_get_dones(self)`` - " +"``_get_dones()``现在应该返回两个缓冲区：``reset`` 和 ``time_out`` 缓冲区" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:467 +msgid "Putting It All Together" +msgstr "将所有内容整合在一起" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:469 +msgid "" +"The Cartpole environment is shown here in completion to fully show the " +"comparison between the OmniIsaacGymEnvs implementation and the Isaac Lab " +"implementation." +msgstr "Cartpole环境在此处已经完全展示，以充分展示OmniIsaacGymEnvs实现和Isaac Lab实现之间的比较。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:475 +msgid "" +"Task config in Isaac Lab can be split into the main task configuration class" +" and individual config objects for the actors." +msgstr "Isaac Lab中的任务配置可以分为主任务配置类和用于执行者的单独配置对象。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:562 +msgid "Task Setup" +msgstr "任务设置" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:614 +msgid "Scene Setup" +msgstr "场景设置" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:616 +msgid "" +"The ``set_up_scene`` method in OmniIsaacGymEnvs has been replaced by the " +"``_setup_scene`` API in the task class in Isaac Lab. Additionally, scene " +"cloning and collision filtering have been provided as APIs for the task " +"class to call when necessary. Similarly, adding ground plane and lights " +"should also be taken care of in the task class. Adding actors to the scene " +"has been replaced by ``self.scene.articulations[\"cartpole\"] = " +"self.cartpole``." +msgstr "" +"在OmniIsaacGymEnvs中的``set_up_scene``方法已经被Isaac " +"Lab的任务类中的``_setup_scene``API所取代。此外，场景克隆和碰撞筛选已经作为任务类调用的API提供。同样地，添加地平面和光源也应该由任务类负责。将演员添加到场景已经被``self.scene.articulations[\"cartpole\"]" +" = self.cartpole``取代。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:654 +msgid "Pre-Physics Step" +msgstr "预物理步骤" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:656 +msgid "" +"Note that resets are no longer performed in the ``pre_physics_step`` API. In" +" addition, the separation of the ``_pre_physics_step`` and ``_apply_action``" +" methods allow for more flexibility in processing the action buffer and " +"setting actions into simulation." +msgstr "" +"请注意，重置现在不再在``pre_physics_step`` " +"API中执行。此外，``_pre_physics_step``和``_apply_action``方法的分离允许在处理动作缓冲区和将动作设置到模拟中更灵活。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:661 +msgid "IsaacLab" +msgstr "Isaac Lab" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:690 +msgid "Dones and Resets" +msgstr "重置与完成" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:692 +msgid "" +"In Isaac Lab, the ``dones`` are computed in the ``_get_dones()`` method and " +"should return two variables: ``resets`` and ``time_out``. The " +"``_reset_idx()`` method is also called after stepping simulation instead of " +"before, as it was done in OmniIsaacGymEnvs. The ``progress_buf`` tensor has " +"been renamed to ``episode_length_buf`` in Isaac Lab and the bookkeeping is " +"now done automatically by the framework. Task implementations no longer need" +" to increment or reset the ``episode_length_buf`` buffer." +msgstr "" +"在Isaac实验室中，``dones``是在``_get_dones()``方法中计算的，并应返回两个变量：``resets`` 和 " +"``time_out``。``_reset_idx()``方法也是在模拟后调用的，而不是像在OmniIsaacGymEnvs中那样是在之前。``progress_buf``张量在Isaac实验室中已被重命名为``episode_length_buf``，并且现在由框架自动完成簿记。任务实现不再需要增加或重置``episode_length_buf``缓冲区。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:749 +msgid "Rewards" +msgstr "奖励" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:751 +msgid "" +"In Isaac Lab, rewards are implemented in the ``_get_rewards`` API and should" +" return the reward buffer instead of assigning it directly to " +"``self.rew_buf``. Computation in the reward function can also be performed " +"using pytorch jit through defining functions with the ``@torch.jit.script`` " +"annotation." +msgstr "" +"在Isaac实验室中，奖励是在``_get_rewards`` " +"API中实现的，应该返回奖励缓冲区，而不是直接分配给``self.rew_buf``。奖励功能还可以通过定义带有``@torch.jit.script``注释的函数来使用pytorch" +" jit进行计算。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:803 +msgid "Observations" +msgstr "观察" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:805 +msgid "" +"In Isaac Lab, the ``_get_observations()`` API must return a dictionary with " +"the key ``policy`` that has the observation buffer as the value. When " +"working with asymmetric actor-critic states, the states for the critic " +"should have the key ``critic`` and be returned with the observation buffer " +"in the same dictionary." +msgstr "" +"在Isaac实验室中，``_get_observations()`` " +"API必须返回一个字典，其键为``policy``，值为观察缓冲区。当与不对称演员-" +"评论者状态一起使用时，评论者的状态应具有键``critic``，并与观察缓冲区一起返回到同一个字典中。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:834 +msgid "Domain Randomization" +msgstr "域随机化" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:836 +msgid "" +"In OmniIsaacGymEnvs, domain randomization was specified through the task " +"``.yaml`` config file. In Isaac Lab, the domain randomization configuration " +"uses the :class:`~omni.isaac.lab.utils.configclass` module to specify a " +"configuration class consisting of :class:`~managers.EventTermCfg` variables." +msgstr "" +"在OmniIsaacGymEnvs中，域随机化是通过任务``.yaml``配置文件指定的。在Isaac实验室中，域随机化配置使用:class:`~omni.isaac.lab.utils.configclass`模块来指定一个由:class:`~managers.EventTermCfg`变量组成的配置类。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:840 +msgid "Below is an example of a configuration class for domain randomization:" +msgstr "以下是域随机化的配置类示例：" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:880 +msgid "" +"Each ``EventTerm`` object is of the :class:`~managers.EventTermCfg` class " +"and takes in a ``func`` parameter for specifying the function to call during" +" randomization, a ``mode`` parameter, which can be ``startup``, ``reset`` or" +" ``interval``. THe ``params`` dictionary should provide the necessary " +"arguments to the function that is specified in the ``func`` parameter. " +"Functions specified as ``func`` for the ``EventTerm`` can be found in the " +":class:`~envs.mdp.events` module." +msgstr "" +"每个``EventTerm``对象都是:class:`~managers.EventTermCfg`类的对象，接受一个``func``参数来指定随机化时调用的函数，一个``mode``参数，可以是``startup``、``reset``或``interval``。" +" " +"``params``字典应该提供函数所需的参数。作为``EventTerm``的``func``指定的函数可以在:class:`~envs.mdp.events`模块中找到。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:886 +msgid "" +"Note that as part of the ``\"asset_cfg\": SceneEntityCfg(\"robot\", " +"body_names=\".*\")`` parameter, the name of the actor ``\"robot\"`` is " +"provided, along with the body or joint names specified as a regex " +"expression, which will be the actors and bodies/joints that will have " +"randomization applied." +msgstr "" +"注意，作为``\"asset_cfg\"：SceneEntityCfg(\"robot\", " +"body_names=\".*\")``参数的一部分，“robot”角色的名称已经提供，以及作为正则表达式指定的身体或关节名称，这些将是将随机应用到的角色和身体/关节。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:890 +msgid "" +"One difference with OmniIsaacGymEnvs is that ``interval`` randomization is " +"now specified as seconds instead of steps. When ``mode=\"interval\"``, the " +"``interval_range_s`` parameter must also be provided, which specifies the " +"range of seconds for which randomization should be applied. This range will " +"then be randomized to determine a specific time in seconds when the next " +"randomization will occur for the term. To convert between steps to seconds, " +"use the equation ``time_s = num_steps * (decimation * dt)``." +msgstr "" +"与OmniIsaacGymEnvs不同的一点是，``interval``随机化现在指定为秒而不是步数。当``mode=\"interval\"``时，还必须提供``interval_range_s``参数，该参数指定应该应用随机化的秒数范围。然后将对这个范围进行随机化，以确定术语的具体时间点。要在步数和秒之间转化，请使用方程``time_s" +" = num_steps * (decimation * dt)``。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:896 +msgid "" +"Similar to OmniIsaacGymEnvs, randomization APIs are available for " +"randomizing articulation properties, such as joint stiffness and damping, " +"joint limits, rigid body materials, fixed tendon properties, as well as " +"rigid body properties, such as mass and rigid body materials. Randomization " +"of the physics scene gravity is also supported. Note that randomization of " +"scale is current not supported in Isaac Lab. To randomize scale, please set " +"up the scene in a way where each environment holds the actor at a different " +"scale." +msgstr "" +"与OmniIsaacGymEnvs一样，用于随机化构造性属性的随机化API现在可用，如关节刚度和阻尼、关节限制、刚性体材料、固定肌腱属性以及刚性体属性，比如质量和刚性体材料。还支持对物理场景重力进行随机化。需要注意的是，Isaac实验室目前不支持比例的随机化。要随机化比例，请以每个环境在不同比例下持有演员的方式设置场景。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:903 +msgid "" +"Once the ``configclass`` for the randomization terms have been set up, the " +"class must be added to the base config class for the task and be assigned to" +" the variable ``events``." +msgstr "一旦随机化术语的``configclass``设置完成，该类必须被添加到任务的基本配置类中，并分配给变量``events``。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:914 +msgid "Action and Observation Noise" +msgstr "动作和观察噪声" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:916 +msgid "" +"Actions and observation noise can also be added using the " +":class:`~utils.configclass` module. Action and observation noise configs " +"must be added to the main task config using the ``action_noise_model`` and " +"``observation_noise_model`` variables:" +msgstr "" +"还可以使用:class:`~utils.configclass`模块添加动作和观测噪声。必须使用``action_noise_model``和``observation_noise_model``变量将动作和观测噪声配置添加到主任务配置中：" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:936 +msgid "" +":class:`~.utils.noise.NoiseModelWithAdditiveBiasCfg` can be used to sample " +"both uncorrelated noise per step as well as correlated noise that is re-" +"sampled at reset time. The ``noise_cfg`` term specifies the Gaussian " +"distribution that will be sampled at each step for all environments. This " +"noise will be added to the corresponding actions and observations buffers at" +" every step. The ``bias_noise_cfg`` term specifies the Gaussian distribution" +" for the correlated noise that will be sampled at reset time for the " +"environments being reset. The same noise will be applied each step for the " +"remaining of the episode for the environments and resampled at the next " +"reset." +msgstr "" +":class:`~.utils.noise.NoiseModelWithAdditiveBiasCfg`可以用于对每步采样不相关的噪声以及在重置时重新采样相关噪声。``noise_cfg``项指定了将在每步对所有环境进行采样的高斯分布。此噪声将被添加到相应的动作和观察值缓冲区中的每一步。``bias_noise_cfg``项指定了在被重置的环境中在重置时间进行重新采样的相关噪声的高斯分布。相同噪声将在剩余的情节中的每一步被应用，并在下一次重置时被重新采样。" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:946 +msgid "This replaces the following setup in OmniIsaacGymEnvs:" +msgstr "这取代了OmniIsaacGymEnvs中的以下设置：" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:976 +msgid "Launching Training" +msgstr "启动训练" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:978 +msgid "To launch a training in Isaac Lab, use the command:" +msgstr "要在Isaac实验室中启动训练，请使用以下命令：" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:985 +msgid "Launching Inferencing" +msgstr "启动推理" + +#: ../../source/migration/migrating_from_omniisaacgymenvs.rst:987 +msgid "To launch inferencing in Isaac Lab, use the command:" +msgstr "要在Isaac实验室中启动推理，请使用以下命令：" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/migration/migrating_from_orbit.po b/docs/locale/zh_CN/LC_MESSAGES/source/migration/migrating_from_orbit.po new file mode 100644 index 0000000000..ce4ec2fcc2 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/migration/migrating_from_orbit.po @@ -0,0 +1,226 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/migration/migrating_from_orbit.rst:4 +msgid "From Orbit" +msgstr "从轨道" + +#: ../../source/migration/migrating_from_orbit.rst:8 +msgid "" +"Since `Orbit`_ was used as basis for Isaac Lab, migrating from Orbit to " +"Isaac Lab is straightforward. The following sections describe the changes " +"that need to be made to your code to migrate from Orbit to Isaac Lab." +msgstr "" +"自 `Orbit`_ 作为Isaac Lab的基础，从Orbit迁移到Isaac Lab很简单。以下部分描述了迁移代码从Orbit到Isaac " +"Lab所需的更改。" + +#: ../../source/migration/migrating_from_orbit.rst:12 +msgid "Renaming of the launch script" +msgstr "启动脚本的重命名" + +#: ../../source/migration/migrating_from_orbit.rst:14 +msgid "The script ``orbit.sh`` has been renamed to ``isaaclab.sh``." +msgstr "脚本``orbit.sh``已更名为``isaaclab.sh``。" + +#: ../../source/migration/migrating_from_orbit.rst:18 +msgid "Updates to extensions" +msgstr "扩展的更新" + +#: ../../source/migration/migrating_from_orbit.rst:20 +msgid "" +"The extensions ``omni.isaac.orbit``, ``omni.isaac.orbit_tasks``, and " +"``omni.isaac.orbit_assets`` have been renamed to ``omni.isaac.lab``, " +"``omni.isaac.lab_tasks``, and ``omni.isaac.lab_assets``, respectively. Thus," +" the new folder structure looks like this:" +msgstr "" +"扩展``omni.isaac.orbit``，``omni.isaac.orbit_tasks``和``omni.isaac.orbit_assets``已重命名为``omni.isaac.lab``，``omni.isaac.lab_tasks``和" +" ``omni.isaac.lab_assets``。因此，新的文件夹结构如下：" + +#: ../../source/migration/migrating_from_orbit.rst:24 +msgid "``source/extensions/omni.isaac.lab/omni/isaac/lab``" +msgstr "``source/extensions/omni.isaac.lab/omni/isaac/lab``" + +#: ../../source/migration/migrating_from_orbit.rst:25 +msgid "``source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks``" +msgstr "``source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks``" + +#: ../../source/migration/migrating_from_orbit.rst:26 +msgid "``source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets``" +msgstr "``source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets``" + +#: ../../source/migration/migrating_from_orbit.rst:28 +msgid "The high level imports have to be updated as well:" +msgstr "高级导入也必须进行更新：" + +#: ../../source/migration/migrating_from_orbit.rst:31 +#: ../../source/migration/migrating_from_orbit.rst:48 +msgid "Orbit" +msgstr "Orbit" + +#: ../../source/migration/migrating_from_orbit.rst:31 +#: ../../source/migration/migrating_from_orbit.rst:48 +msgid "Isaac Lab" +msgstr "Isaac Lab" + +#: ../../source/migration/migrating_from_orbit.rst:33 +msgid "``from omni.isaac.orbit...``" +msgstr "``from omni.isaac.orbit...``" + +#: ../../source/migration/migrating_from_orbit.rst:33 +msgid "``from omni.isaac.lab...``" +msgstr "``from omni.isaac.lab...``" + +#: ../../source/migration/migrating_from_orbit.rst:35 +msgid "``from omni.isaac.orbit_tasks...``" +msgstr "``from omni.isaac.orbit_tasks...``" + +#: ../../source/migration/migrating_from_orbit.rst:35 +msgid "``from omni.isaac.lab_tasks...``" +msgstr "``from omni.isaac.lab_tasks...``" + +#: ../../source/migration/migrating_from_orbit.rst:37 +msgid "``from omni.isaac.orbit_assets...``" +msgstr "``from omni.isaac.orbit_assets...``" + +#: ../../source/migration/migrating_from_orbit.rst:37 +msgid "``from omni.isaac.lab_assets...``" +msgstr "``from omni.isaac.lab_assets...``" + +#: ../../source/migration/migrating_from_orbit.rst:42 +msgid "Updates to class names" +msgstr "类名的更新" + +#: ../../source/migration/migrating_from_orbit.rst:44 +msgid "" +"In Isaac Lab, we introduced the concept of task design workflows (see " +":ref:`feature-workflows`). The Orbit code is using the manager-based " +"workflow and the environment specific class names have been updated to " +"reflect this change:" +msgstr "" +"在Isaac Lab中，我们引入了任务设计工作流的概念（详情请见：:ref:`feature-" +"workflows`）。Orbit代码使用基于管理器的工作流，特定环境的类名已更新以反映此更改：" + +#: ../../source/migration/migrating_from_orbit.rst:50 +msgid "``BaseEnv``" +msgstr "``BaseEnv``" + +#: ../../source/migration/migrating_from_orbit.rst:50 +msgid ":class:`omni.isaac.lab.envs.ManagerBasedEnv`" +msgstr ":class:`omni.isaac.lab.envs.ManagerBasedEnv`" + +#: ../../source/migration/migrating_from_orbit.rst:52 +msgid "``BaseEnvCfg``" +msgstr "``BaseEnvCfg``" + +#: ../../source/migration/migrating_from_orbit.rst:52 +msgid ":class:`omni.isaac.lab.envs.ManagerBasedEnvCfg`" +msgstr ":class:`omni.isaac.lab.envs.ManagerBasedEnvCfg`" + +#: ../../source/migration/migrating_from_orbit.rst:54 +msgid "``RLTaskEnv``" +msgstr "``RLTaskEnv``" + +#: ../../source/migration/migrating_from_orbit.rst:54 +msgid ":class:`omni.isaac.lab.envs.ManagerBasedRLEnv`" +msgstr ":class:`omni.isaac.lab.envs.ManagerBasedRLEnv`" + +#: ../../source/migration/migrating_from_orbit.rst:56 +msgid "``RLTaskEnvCfg``" +msgstr "``RLTaskEnvCfg``" + +#: ../../source/migration/migrating_from_orbit.rst:56 +msgid ":class:`omni.isaac.lab.envs.ManagerBasedRLEnvCfg`" +msgstr ":class:`omni.isaac.lab.envs.ManagerBasedRLEnvCfg`" + +#: ../../source/migration/migrating_from_orbit.rst:58 +msgid "``RLTaskEnvWindow``" +msgstr "``RLTaskEnvWindow``" + +#: ../../source/migration/migrating_from_orbit.rst:58 +msgid ":class:`omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow`" +msgstr ":class:`omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow`" + +#: ../../source/migration/migrating_from_orbit.rst:63 +msgid "Updates to the tasks folder structure" +msgstr "任务文件夹结构的更新" + +#: ../../source/migration/migrating_from_orbit.rst:65 +msgid "" +"To support the manager-based and direct workflows, we have added two folders" +" in the tasks extension:" +msgstr "为了支持基于管理器的和直接的工作流，我们在任务扩展中新增了两个文件夹：" + +#: ../../source/migration/migrating_from_orbit.rst:67 +msgid "" +"``source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based``" +msgstr "" +"``source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based``" + +#: ../../source/migration/migrating_from_orbit.rst:68 +msgid "``source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct``" +msgstr "" +"``source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct``" + +#: ../../source/migration/migrating_from_orbit.rst:70 +msgid "" +"The tasks from Orbit can now be found under the ``manager_based`` folder. " +"This change must also be reflected in the imports for your tasks. For " +"example," +msgstr "来自Orbit的任务现在可以在``manager_based``文件夹中找到。这一更改也必须在任务的导入中反映出来。例如，" + +#: ../../source/migration/migrating_from_orbit.rst:77 +#: ../../source/migration/migrating_from_orbit.rst:115 +msgid "should now be:" +msgstr "现在应该是：" + +#: ../../source/migration/migrating_from_orbit.rst:85 +msgid "Other Breaking changes" +msgstr "其他重大更改" + +#: ../../source/migration/migrating_from_orbit.rst:88 +msgid "Offscreen rendering" +msgstr "离屏渲染" + +#: ../../source/migration/migrating_from_orbit.rst:90 +msgid "" +"The input argument ``--offscreen_render`` given to " +":class:`omni.isaac.lab.app.AppLauncher` and the environment variable " +"``OFFSCREEN_RENDER`` have been renamed to ``--enable_cameras`` and " +"``ENABLE_CAMERAS`` respectively." +msgstr "" +"给予:class:`omni.isaac.lab.app.AppLauncher`的输入参数``--offscreen_render``和环境变量``OFFSCREEN_RENDER``已重命名为``--enable_cameras``和``ENABLE_CAMERAS``。" + +#: ../../source/migration/migrating_from_orbit.rst:95 +msgid "Event term distribution configuration" +msgstr "事件项分布配置" + +#: ../../source/migration/migrating_from_orbit.rst:97 +msgid "" +"Some of the event functions in `events.py `_" +" accepted a ``distribution`` parameter and a ``range`` to sample from. In an" +" effort to support arbitrary distributions, we have renamed the input " +"argument ``AAA_range`` to ``AAA_distribution_params`` for these functions. " +"Therefore, event term configurations whose functions have a ``distribution``" +" argument should be updated. For example," +msgstr "" +"`events.py `_中的一些事件函数接受``distribution``参数和从中进行抽样的``range``。为了支持任意分布，我们已将输入参数``AAA_range``重命名为这些函数的``AAA_distribution_params``。因此，函数中带有``distribution``参数的事件项配置应进行更新。例如，" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/refs/bibliography.po b/docs/locale/zh_CN/LC_MESSAGES/source/refs/bibliography.po new file mode 100644 index 0000000000..a4ae1ed384 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/refs/bibliography.po @@ -0,0 +1,24 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/refs/bibliography.rst:2 +msgid "Bibliography" +msgstr "参考文献" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/refs/changelog.po b/docs/locale/zh_CN/LC_MESSAGES/source/refs/changelog.po new file mode 100644 index 0000000000..b79a9752a1 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/refs/changelog.po @@ -0,0 +1,4277 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 12:43+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: zh_CN\n" +"Language-Team: zh_CN \n" +"Plural-Forms: nplurals=1; plural=0;\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/refs/changelog.rst:2 +msgid "Extensions Changelog" +msgstr "" + +#: ../../source/refs/changelog.rst:4 +msgid "" +"All notable changes to this project are documented in this file. The " +"format is based on `Keep a Changelog " +"`__ and this project adheres to " +"`Semantic Versioning `__. For a " +"broader information about the changes in the framework, please refer to " +"the `release notes `__." +msgstr "" + +#: ../../source/refs/changelog.rst:10 +msgid "" +"Each extension has its own changelog. The changelog for each extension is" +" located in the ``docs`` directory of the extension. The changelog for " +"each extension is also included in this changelog to make it easier to " +"find the changelog for a specific extension." +msgstr "" + +#: ../../source/refs/changelog.rst:15 +msgid "omni.isaac.lab" +msgstr "" + +#: ../../source/refs/changelog.rst:17 +msgid "Extension containing the core framework of Isaac Lab." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2 +msgid "0.18.6 (2024-07-01)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:5 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:16 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:28 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:44 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:90 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:106 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:132 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:143 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:164 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:216 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:233 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:252 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:296 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:335 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:393 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:403 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:415 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:466 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:482 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:497 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:508 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:519 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:553 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:590 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:617 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:630 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:648 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:676 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:700 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:776 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:798 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:807 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:817 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:838 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:847 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:858 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:879 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:889 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:899 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:908 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:929 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:942 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:953 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:963 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:973 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:991 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1002 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1014 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1030 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1042 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1089 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1099 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1145 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1203 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1212 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1223 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1255 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1267 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1280 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1289 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1305 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1332 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1344 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1355 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1365 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1375 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1407 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1419 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1448 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1497 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1513 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1525 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1537 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1599 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1615 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1635 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1645 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1655 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1703 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1714 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1725 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1741 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1776 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1792 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1820 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1889 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1953 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1972 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2021 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2070 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2080 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2098 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2152 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2172 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2211 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2279 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2294 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2305 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2319 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2329 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2354 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2370 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2384 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2393 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2407 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2425 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:14 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:143 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:153 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:162 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:171 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:194 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:204 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:215 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:238 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:267 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:293 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:309 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:350 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:360 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:368 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:383 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:410 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:419 +msgid "Fixed" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:7 +msgid "" +"Fixed the environment stepping logic. Earlier, the environments' " +"rendering logic was updating the kit app which would in turn step the " +"physics :attr:`omni.isaac.lab.sim.SimulationCfg.render_interval` times. " +"Now, a render call only does rendering and does not step the physics." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:13 +msgid "0.18.5 (2024-06-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:18 +msgid "" +"Fixed the gravity vector direction used inside the " +":class:`omni.isaac.lab.assets.RigidObjectData`class. Earlier, the gravity" +" direction was hard-coded as (0, 0, -1) which may be different from the " +"actual gravity direction in the simulation. Now, the gravity direction is" +" obtained from the simulation context and used to compute the projection " +"of the gravity vector on the object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:25 +msgid "0.18.4 (2024-06-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:30 +msgid "" +"Fixed double reference count of the physics sim view inside the asset " +"classes. This was causing issues when destroying the asset class instance" +" since the physics sim view was not being properly released." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:34 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:51 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:116 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:154 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:173 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:182 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:239 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:278 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:317 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:327 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:386 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:426 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:437 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:449 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:472 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:492 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:542 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:583 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:641 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:658 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:668 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:711 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:721 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:743 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:754 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:765 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:786 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:828 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:869 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:984 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1024 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1053 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1070 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1123 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1139 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1163 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1174 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1191 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1235 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1245 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1320 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1396 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1461 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1471 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1507 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1551 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1560 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1580 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1594 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1609 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1627 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1667 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1678 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1696 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1732 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1762 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1786 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1813 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1830 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1856 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1881 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1899 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1921 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1942 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1963 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1987 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2027 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2037 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2091 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2108 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2118 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2141 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2157 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2166 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2192 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2229 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2246 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2269 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2288 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2310 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2338 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2363 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2416 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2434 +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:5 +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:14 +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:23 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:5 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:43 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:52 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:64 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:81 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:89 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:99 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:116 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:127 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:137 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:182 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:303 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:329 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:376 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:401 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:428 +msgid "Added" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:36 +msgid "" +"Added the attribute " +":attr:`~omni.isaac.lab.assets.AssetBase.is_initialized` to check if the " +"asset and sensor has been initialized properly. This can be used to " +"ensure that the asset or sensor is ready to use in the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:41 +msgid "0.18.3 (2024-06-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:46 +msgid "" +"Fixed the docstrings at multiple places related to the different buffer " +"implementations inside the :mod:`omni.isaac.lab.utils.buffers` module. " +"The docstrings were not clear and did not provide enough information " +"about the classes and their methods." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:53 +msgid "" +"Added the field for fixed tendom names in the " +":class:`omni.isaac.lab.assets.ArticulationData` class. Earlier, this " +"information was not exposed which was inconsistent with other name " +"related information such as joint or body names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:58 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:69 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:79 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:96 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:121 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:191 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:201 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:226 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:262 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:287 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:307 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:365 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:375 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:456 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:683 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1063 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1116 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1132 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1157 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1295 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1315 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1386 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1431 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1442 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1485 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1569 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1685 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1751 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1801 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1844 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1865 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1911 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1932 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1977 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1998 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2009 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2045 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2063 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2128 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2179 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2200 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2219 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2236 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2260 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2344 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:25 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:34 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:73 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:108 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:222 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:233 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:248 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:259 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:276 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:286 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:319 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:338 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:391 +msgid "Changed" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:60 +msgid "" +"Renamed the fields ``min_num_time_lags`` and ``max_num_time_lags`` to " +"``min_delay`` and ``max_delay`` in the " +":class:`omni.isaac.lab.actuators.DelayedPDActuatorCfg` class. This is to " +"make the naming simpler to understand." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:66 +msgid "0.18.2 (2024-06-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:71 +msgid "" +"Moved the configuration for tile-rendered camera into its own file named " +"``tiled_camera_cfg.py``. This makes it easier to follow where the " +"configuration is located and how it is related to the class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:76 +msgid "0.18.1 (2024-06-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:81 +msgid "" +"Ensured that a parity between class and its configuration class is " +"explicitly visible in the :mod:`omni.isaac.lab.envs` module. This makes " +"it easier to follow where definitions are located and how they are " +"related. This should not be a breaking change as the classes are still " +"accessible through the same module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:87 +msgid "0.18.0 (2024-06-13)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:92 +msgid "" +"Fixed the rendering logic to render at the specified interval. Earlier, " +"the substep parameter had no effect and rendering would happen once every" +" env.step() when active." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:98 +msgid "" +"Renamed :attr:`omni.isaac.lab.sim.SimulationCfg.substeps` to " +":attr:`omni.isaac.lab.sim.SimulationCfg.render_interval`. The render " +"logic is now integrated in the decimation loop of the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:103 +msgid "0.17.13 (2024-06-13)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:108 +msgid "" +"Fixed the orientation reset logic in " +":func:`omni.isaac.lab.envs.mdp.events.reset_root_state_uniform` to make " +"it relative to the default orientation. Earlier, the position was sampled" +" relative to the default and the orientation not." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:113 +msgid "0.17.12 (2024-06-13)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:118 +msgid "" +"Added the class :class:`omni.isaac.lab.utils.buffers.TimestampedBuffer` " +"to store timestamped data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:123 +msgid "" +"Added time-stamped buffers in the classes " +":class:`omni.isaac.lab.assets.RigidObjectData` and " +":class:`omni.isaac.lab.assets.ArticulationData` to update some values " +"lazily and avoid unnecessary computations between physics updates. " +"Before, all the data was always updated at every step, even if it was not" +" used by the task." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:129 +msgid "0.17.11 (2024-05-30)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:134 +msgid "" +"Fixed :class:`omni.isaac.lab.sensor.ContactSensor` not loading correctly " +"in extension mode. Earlier, the " +":attr:`omni.isaac.lab.sensor.ContactSensor.body_physx_view` was not " +"initialized when " +":meth:`omni.isaac.lab.sensor.ContactSensor._debug_vis_callback` is called" +" which references it." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:140 +msgid "0.17.10 (2024-05-30)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:145 +msgid "" +"Fixed compound classes being directly assigned in ``default_factory`` " +"generator method :meth:`omni.isaac.lab.utils.configclass._return_f`, " +"which resulted in shared references such that modifications to compound " +"objects were reflected across all instances generated from the same " +"``default_factory`` method." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:151 +msgid "0.17.9 (2024-05-30)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:156 +msgid "" +"Added ``variants`` attribute to the " +":class:`omni.isaac.lab.sim.from_files.UsdFileCfg` class to select USD " +"variants when loading assets from USD files." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:161 +msgid "0.17.8 (2024-05-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:166 +msgid "" +"Implemented the reset methods in the action terms to avoid returning " +"outdated data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:170 +msgid "0.17.7 (2024-05-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:175 +msgid "" +"Added debug visualization utilities in the " +":class:`omni.isaac.lab.managers.ActionManager` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:179 +msgid "0.17.6 (2024-05-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:184 +msgid "Added ``wp.init()`` call in Warp utils." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:188 +msgid "0.17.5 (2024-05-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:193 +msgid "" +"Websocket livestreaming is no longer supported. Valid livestream options " +"are {0, 1, 2}." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:194 +msgid "WebRTC livestream is now set with livestream=2." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:198 +msgid "0.17.4 (2024-05-17)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:203 +msgid "" +"Modified the noise functions to also support add, scale, and abs " +"operations on the data. Added aliases to ensure backward compatibility " +"with the previous functions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:206 +msgid "" +"Added :attr:`omni.isaac.lab.utils.noise.NoiseCfg.operation` for the " +"different operations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:207 +msgid "" +"Renamed ``constant_bias_noise`` to " +":func:`omni.isaac.lab.utils.noise.constant_noise`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:208 +msgid "" +"Renamed ``additive_uniform_noise`` to " +":func:`omni.isaac.lab.utils.noise.uniform_noise`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:209 +msgid "" +"Renamed ``additive_gaussian_noise`` to " +":func:`omni.isaac.lab.utils.noise.gaussian_noise`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:213 +msgid "0.17.3 (2024-05-15)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:218 +msgid "Set ``hide_ui`` flag in the app launcher for livestream." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:219 +msgid "Fix native client livestream extensions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:223 +msgid "0.17.2 (2024-05-09)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:228 +msgid "" +"Renamed ``_range`` to ``distribution_params`` in ``events.py`` for " +"methods that defined a distribution." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:229 +msgid "" +"Apply additive/scaling randomization noise on default data instead of " +"current data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:230 +msgid "Changed material bucketing logic to prevent exceeding 64k materials." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:235 +msgid "" +"Fixed broadcasting issues with indexing when environment and joint IDs " +"are provided." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:236 +msgid "Fixed incorrect tensor dimensions when setting a subset of environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:241 +msgid "Added support for randomization of fixed tendon parameters." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:242 +msgid "Added support for randomization of dof limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:243 +msgid "Added support for randomization of gravity." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:244 +msgid "Added support for Gaussian sampling." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:245 +msgid "" +"Added default buffers to Articulation/Rigid object data classes for " +"randomization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:249 +msgid "0.17.1 (2024-05-10)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:254 +msgid "" +"Added attribute " +":attr:`omni.isaac.lab.sim.converters.UrdfConverterCfg.override_joint_dynamics`" +" to properly parse joint dynamics in " +":class:`omni.isaac.lab.sim.converters.UrdfConverter`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:259 +msgid "0.17.0 (2024-05-07)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:264 +msgid "Renamed ``BaseEnv`` to :class:`omni.isaac.lab.envs.ManagerBasedEnv`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:265 +msgid "Renamed ``base_env.py`` to ``manager_based_env.py``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:266 +msgid "Renamed ``BaseEnvCfg`` to :class:`omni.isaac.lab.envs.ManagerBasedEnvCfg`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:267 +msgid "Renamed ``RLTaskEnv`` to :class:`omni.isaac.lab.envs.ManagerBasedRLEnv`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:268 +msgid "Renamed ``rl_task_env.py`` to ``manager_based_rl_env.py``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:269 +msgid "" +"Renamed ``RLTaskEnvCfg`` to " +":class:`omni.isaac.lab.envs.ManagerBasedRLEnvCfg`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:270 +msgid "Renamed ``rl_task_env_cfg.py`` to ``rl_env_cfg.py``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:271 +msgid "Renamed ``OIGEEnv`` to :class:`omni.isaac.lab.envs.DirectRLEnv`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:272 +msgid "Renamed ``oige_env.py`` to ``direct_rl_env.py``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:273 +msgid "" +"Renamed ``RLTaskEnvWindow`` to " +":class:`omni.isaac.lab.envs.ui.ManagerBasedRLEnvWindow`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:274 +msgid "Renamed ``rl_task_env_window.py`` to ``manager_based_rl_env_window.py``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:275 +msgid "" +"Renamed all references of ``BaseEnv``, ``BaseEnvCfg``, ``RLTaskEnv``, " +"``RLTaskEnvCfg``, ``OIGEEnv``, and ``RLTaskEnvWindow``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:280 +msgid "Added direct workflow base class :class:`omni.isaac.lab.envs.DirectRLEnv`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:284 +msgid "0.16.4 (2024-05-06)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:289 +msgid "" +"Added :class:`omni.isaac.lab.sensors.TiledCamera` to support tiled " +"rendering with RGB and depth." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:293 +msgid "0.16.3 (2024-04-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:298 +msgid "" +"Fixed parsing of filter prim path expressions in the " +":class:`omni.isaac.lab.sensors.ContactSensor` class. Earlier, the filter " +"prim paths given to the physics view was not being parsed since they were" +" specified as regex expressions instead of glob expressions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:304 +msgid "0.16.2 (2024-04-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:309 +msgid "Simplified the installation procedure, isaaclab -e is no longer needed" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:310 +msgid "Updated torch dependency to 2.2.2" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:314 +msgid "0.16.1 (2024-04-20)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:319 +msgid "" +"Added attribute " +":attr:`omni.isaac.lab.sim.ArticulationRootPropertiesCfg.fix_root_link` to" +" fix the root link of an articulation to the world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:324 +msgid "0.16.0 (2024-04-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:329 +msgid "" +"Added the function :meth:`omni.isaac.lab.utils.math.quat_unique` to " +"standardize quaternion representations, i.e. always have a non-negative " +"real part." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:331 +msgid "" +"Added events terms for randomizing mass by scale, simulation joint " +"properties (stiffness, damping, armature, and friction)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:337 +msgid "" +"Added clamping of joint positions and velocities in event terms for " +"resetting joints. The simulation does not throw an error if the set " +"values are out of their range. Hence, users are expected to clamp them " +"before setting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:339 +msgid "" +"Fixed :class:`omni.isaac.lab.envs.mdp.EMAJointPositionToLimitsActionCfg` " +"to smoothen the actions at environment frequency instead of simulation " +"frequency." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:342 +msgid "" +"Renamed the following functions in :meth:`omni.isaac.lab.envs.mdp` to " +"avoid confusions:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:344 +msgid "Observation: :meth:`joint_pos_norm` -> :meth:`joint_pos_limit_normalized`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:345 +msgid "" +"Action: :class:`ExponentialMovingAverageJointPositionAction` -> " +":class:`EMAJointPositionToLimitsAction`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:346 +msgid "Termination: :meth:`base_height` -> :meth:`root_height_below_minimum`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:347 +msgid "Termination: :meth:`joint_pos_limit` -> :meth:`joint_pos_out_of_limit`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:348 +msgid "" +"Termination: :meth:`joint_pos_manual_limit` -> " +":meth:`joint_pos_out_of_manual_limit`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:349 +msgid "Termination: :meth:`joint_vel_limit` -> :meth:`joint_vel_out_of_limit`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:350 +msgid "" +"Termination: :meth:`joint_vel_manual_limit` -> " +":meth:`joint_vel_out_of_manual_limit`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:351 +msgid "" +"Termination: :meth:`joint_torque_limit` -> " +":meth:`joint_effort_out_of_limit`" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:354 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:530 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:915 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1871 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2052 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2398 +msgid "Deprecated" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:356 +msgid "" +"Deprecated the function :meth:`omni.isaac.lab.envs.mdp.add_body_mass` in " +"favor of :meth:`omni.isaac.lab.envs.mdp.randomize_rigid_body_mass`. This " +"supports randomizing the mass based on different operations (add, scale, " +"or set) and sampling distributions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:362 +msgid "0.15.13 (2024-04-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:367 +msgid "" +"Improved startup performance by enabling rendering-based extensions only " +"when necessary and caching of nucleus directory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:368 +msgid "" +"Renamed the flag ``OFFSCREEN_RENDER`` or ``--offscreen_render`` to " +"``ENABLE_CAMERAS`` or ``--enable_cameras`` respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:372 +msgid "0.15.12 (2024-04-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:377 +msgid "" +"Replaced calls to the ``check_file_path`` function in the " +":mod:`omni.isaac.lab.sim.spawners.from_files` with the USD stage resolve " +"identifier function. This helps speed up the loading of assets from file " +"paths by avoiding Nucleus server calls." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:383 +msgid "0.15.11 (2024-04-15)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:388 +msgid "" +"Added the :meth:`omni.isaac.lab.sim.SimulationContext.has_rtx_sensors` " +"method to check if any RTX-related sensors such as cameras have been " +"created in the simulation. This is useful to determine if simulation " +"requires RTX rendering during step or not." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:395 +msgid "" +"Fixed the rendering of RTX-related sensors such as cameras inside the " +":class:`omni.isaac.lab.envs.RLTaskEnv` class. Earlier the rendering did " +"not happen inside the step function, which caused the sensor data to be " +"empty." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:400 +msgid "0.15.10 (2024-04-11)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:405 +msgid "" +"Fixed sharing of the same memory address between returned tensors from " +"observation terms in the " +":class:`omni.isaac.lab.managers.ObservationManager` class. Earlier, the " +"returned tensors could map to the same memory address, causing issues " +"when the tensors were modified during scaling, clipping or other " +"operations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:412 +msgid "0.15.9 (2024-04-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:417 +msgid "" +"Fixed assignment of individual termination terms inside the " +":class:`omni.isaac.lab.managers.TerminationManager` class. Earlier, the " +"terms were being assigned their values through an OR operation which " +"resulted in incorrect values. This regression was introduced in version " +"0.15.1." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:423 +msgid "0.15.8 (2024-04-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:428 +msgid "" +"Added option to define ordering of points for the mesh-grid generation in" +" the :func:`omni.isaac.lab.sensors.ray_caster.patterns.grid_pattern`. " +"This parameter defaults to 'xy' for backward compatibility." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:434 +msgid "0.15.7 (2024-03-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:439 +msgid "" +"Adds option to return indices/data in the specified query keys order in " +":class:`omni.isaac.lab.managers.SceneEntityCfg` class, and the respective" +" :func:`omni.isaac.lab.utils.string.resolve_matching_names_values` and " +":func:`omni.isaac.lab.utils.string.resolve_matching_names` functions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:446 +msgid "0.15.6 (2024-03-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:451 +msgid "" +"Extended the :class:`omni.isaac.lab.app.AppLauncher` class to support the" +" loading of experience files from the command line. This allows users to " +"load a specific experience file when running the application (such as for" +" multi-camera rendering or headless mode)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:458 +msgid "" +"Changed default loading of experience files in the " +":class:`omni.isaac.lab.app.AppLauncher` class from the ones provided by " +"Isaac Sim to the ones provided in Isaac Lab's ``source/apps`` directory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:463 +msgid "0.15.5 (2024-03-23)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:468 +msgid "" +"Fixed the env origins in :meth:`_compute_env_origins_grid` of " +":class:`omni.isaac.lab.terrain.TerrainImporter` to match that obtained " +"from the Isaac Sim :class:`omni.isaac.cloner.GridCloner` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:474 +msgid "" +"Added unit test to ensure consistency between environment origins " +"generated by IsaacSim's Grid Cloner and those produced by the " +"TerrainImporter." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:479 +msgid "0.15.4 (2024-03-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:484 +msgid "" +"Fixed the :class:`omni.isaac.lab.envs.mdp.actions.NonHolonomicActionCfg` " +"class to use the correct variable when applying actions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:489 +msgid "0.15.3 (2024-03-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:494 +msgid "" +"Added unit test to check that " +":class:`omni.isaac.lab.scene.InteractiveScene` entity data is not shared " +"between separate instances." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:499 +msgid "" +"Moved class variables in :class:`omni.isaac.lab.scene.InteractiveScene` " +"to correctly be assigned as instance variables." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:501 +msgid "" +"Removed custom ``__del__`` magic method from " +":class:`omni.isaac.lab.scene.InteractiveScene`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:505 +msgid "0.15.2 (2024-03-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:510 +msgid "" +"Added resolving of relative paths for the main asset USD file when using " +"the :class:`omni.isaac.lab.sim.converters.UrdfConverter` class. This is " +"to ensure that the material paths are resolved correctly when the main " +"asset file is moved to a different location." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:516 +msgid "0.15.1 (2024-03-19)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:521 +msgid "" +"Fixed the imitation learning workflow example script, updating Isaac Lab " +"and Robomimic API calls." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:522 +msgid "" +"Removed the resetting of :attr:`_term_dones` in the " +":meth:`omni.isaac.lab.managers.TerminationManager.reset`. Previously, the" +" environment cleared out all the terms. However, it impaired reading the " +"specific term's values externally." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:527 +msgid "0.15.0 (2024-03-17)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:532 +msgid "" +"Renamed :class:`omni.isaac.lab.managers.RandomizationManager` to " +":class:`omni.isaac.lab.managers.EventManager` class for clarification as " +"the manager takes care of events such as reset in addition to pure " +"randomizations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:534 +msgid "" +"Renamed :class:`omni.isaac.lab.managers.RandomizationTermCfg` to " +":class:`omni.isaac.lab.managers.EventTermCfg` for consistency with the " +"class name change." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:539 +msgid "0.14.1 (2024-03-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:544 +msgid "" +"Added simulation schemas for joint drive and fixed tendons. These can be " +"configured for assets imported from file formats." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:546 +msgid "" +"Added logging of tendon properties to the articulation class (if they are" +" present in the USD prim)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:550 +msgid "0.14.0 (2024-03-15)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:555 +msgid "" +"Fixed the ordering of body names used in the " +":class:`omni.isaac.lab.assets.Articulation` class. Earlier, the body " +"names were not following the same ordering as the bodies in the " +"articulation. This led to issues when using the body names to access data" +" related to the links from the articulation view (such as Jacobians, mass" +" matrices, etc.)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:561 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:572 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:600 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:690 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:732 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1078 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1181 +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2375 +msgid "Removed" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:563 +msgid "" +"Removed the attribute :attr:`body_physx_view` from the " +":class:`omni.isaac.lab.assets.RigidObject` and " +":class:`omni.isaac.lab.assets.Articulation` classes. These were causing " +"confusions when used with articulation view since the body names were not" +" following the same ordering." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:569 +msgid "0.13.1 (2024-03-14)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:574 +msgid "" +"Removed the :mod:`omni.isaac.lab.compat` module. This module was used to " +"provide compatibility with older versions of Isaac Sim. It is no longer " +"needed since we have most of the functionality absorbed into the main " +"classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:580 +msgid "0.13.0 (2024-03-12)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:585 +msgid "" +"Added support for the following data types inside the " +":class:`omni.isaac.lab.sensors.Camera` class: " +"``instance_segmentation_fast`` and ``instance_id_segmentation_fast``. " +"These are GPU-supported annotations and are faster than the regular " +"annotations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:592 +msgid "" +"Fixed handling of semantic filtering inside the " +":class:`omni.isaac.lab.sensors.Camera` class. Earlier, the annotator was " +"given ``semanticTypes`` as an argument. However, with Isaac Sim 2023.1, " +"the annotator does not accept this argument. Instead the mapping needs to" +" be set to the synthetic data interface directly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:595 +msgid "" +"Fixed the return shape of colored images for segmentation data types " +"inside the :class:`omni.isaac.lab.sensors.Camera` class. Earlier, the " +"images were always returned as ``int32``. Now, they are casted to " +"``uint8`` 4-channel array before returning if colorization is enabled for" +" the annotation type." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:602 +msgid "" +"Dropped support for ``instance_segmentation`` and " +"``instance_id_segmentation`` annotations in the " +":class:`omni.isaac.lab.sensors.Camera` class. Their \"fast\" counterparts" +" should be used instead." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:604 +msgid "" +"Renamed the argument " +":attr:`omni.isaac.lab.sensors.CameraCfg.semantic_types` to " +":attr:`omni.isaac.lab.sensors.CameraCfg.semantic_filter`. This is more " +"aligned with Replicator's terminology for semantic filter predicates." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:607 +msgid "" +"Replaced the argument :attr:`omni.isaac.lab.sensors.CameraCfg.colorize` " +"with separate colorized arguments for each annotation type " +"(:attr:`~omni.isaac.lab.sensors.CameraCfg.colorize_instance_segmentation`," +" " +":attr:`~omni.isaac.lab.sensors.CameraCfg.colorize_instance_id_segmentation`," +" and " +":attr:`~omni.isaac.lab.sensors.CameraCfg.colorize_semantic_segmentation`)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:614 +msgid "0.12.4 (2024-03-11)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:620 +msgid "" +"Adapted randomization terms to deal with ``slice`` for the body indices. " +"Earlier, the terms were not able to handle the slice object and were " +"throwing an error." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:622 +msgid "" +"Added ``slice`` type-hinting to all body and joint related methods in the" +" rigid body and articulation classes. This is to make it clear that the " +"methods can handle both list of indices and slices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:627 +msgid "0.12.3 (2024-03-11)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:632 +msgid "" +"Added signal handler to the :class:`omni.isaac.lab.app.AppLauncher` class" +" to catch the ``SIGINT`` signal and close the application gracefully. " +"This is to prevent the application from crashing when the user presses " +"``Ctrl+C`` to close the application." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:638 +msgid "0.12.2 (2024-03-10)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:643 +msgid "Added observation terms for states of a rigid object in world frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:644 +msgid "" +"Added randomization terms to set root state with randomized orientation " +"and joint state within user-specified limits." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:645 +msgid "Added reward term for penalizing specific termination terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:650 +msgid "" +"Improved sampling of states inside randomization terms. Earlier, the code" +" did multiple torch calls for sampling different components of the " +"vector. Now, it uses a single call to sample the entire vector." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:655 +msgid "0.12.1 (2024-03-09)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:660 +msgid "" +"Added an option to the last actions observation term to get a specific " +"term by name from the action manager. If None, the behavior remains the " +"same as before (the entire action is returned)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:665 +msgid "0.12.0 (2024-03-08)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:670 +msgid "" +"Added functionality to sample flat patches on a generated terrain. This " +"can be configured using " +":attr:`omni.isaac.lab.terrains.SubTerrainBaseCfg.flat_patch_sampling` " +"attribute." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:672 +msgid "" +"Added a randomization function for setting terrain-aware root state. " +"Through this, an asset can be reset to a randomly sampled flat patches." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:678 +msgid "" +"Separated normal and terrain-base position commands. The terrain based " +"commands rely on the terrain to sample flat patches for setting the " +"target position." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:680 +msgid "Fixed command resample termination function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:685 +msgid "" +"Added the attribute " +":attr:`omni.isaac.lab.envs.mdp.commands.UniformVelocityCommandCfg.heading_control_stiffness`" +" to control the stiffness of the heading control term in the velocity " +"command term. Earlier, this was hard-coded to 0.5 inside the term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:692 +msgid "" +"Removed the function :meth:`sample_new_targets` in the terrain importer. " +"Instead the attribute " +":attr:`omni.isaac.lab.terrains.TerrainImporter.flat_patches` should be " +"used to sample new targets." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:697 +msgid "0.11.3 (2024-03-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:702 +msgid "" +"Corrects the functions " +":func:`omni.isaac.lab.utils.math.axis_angle_from_quat` and " +":func:`omni.isaac.lab.utils.math.quat_error_magnitude` to accept tensors " +"of the form (..., 4) instead of (N, 4). This brings us in line with our " +"documentation and also upgrades one of our functions to handle higher " +"dimensions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:708 +msgid "0.11.2 (2024-03-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:713 +msgid "" +"Added checks for default joint position and joint velocity in the " +"articulation class. This is to prevent users from configuring values for " +"these quantities that might be outside the valid range from the " +"simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:718 +msgid "0.11.1 (2024-02-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:723 +msgid "" +"Replaced the default values for ``joint_ids`` and ``body_ids`` from " +"``None`` to ``slice(None)`` in the " +":class:`omni.isaac.lab.managers.SceneEntityCfg`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:725 +msgid "" +"Adapted rewards and observations terms so that the users can query a " +"subset of joints and bodies." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:729 +msgid "0.11.0 (2024-02-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:734 +msgid "" +"Dropped support for Isaac Sim<=2022.2. As part of this, removed the " +"components of :class:`omni.isaac.lab.app.AppLauncher` which handled ROS " +"extension loading. We no longer need them in Isaac Sim>=2023.1 to control" +" the load order to avoid crashes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:736 +msgid "Upgraded Dockerfile to use ISAACSIM_VERSION=2023.1.1 by default." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:740 +msgid "0.10.28 (2024-02-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:745 +msgid "" +"Implemented relative and moving average joint position action terms. " +"These allow the user to specify the target joint positions as relative to" +" the current joint positions or as a moving average of the joint " +"positions over a window of time." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:751 +msgid "0.10.27 (2024-02-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:756 +msgid "" +"Added UI feature to start and stop animation recording in the stage when " +"running an environment. To enable this feature, please pass the argument " +"``--disable_fabric`` to the environment script to allow USD read/write " +"operations. Be aware that this will slow down the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:762 +msgid "0.10.26 (2024-02-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:767 +msgid "" +"Added a viewport camera controller class to the " +":class:`omni.isaac.lab.envs.BaseEnv`. This is useful for applications " +"where the user wants to render the viewport from different perspectives " +"even when the simulation is running in headless mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:773 +msgid "0.10.25 (2024-02-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:778 +msgid "" +"Ensures that all path arguments in :mod:`omni.isaac.lab.sim.utils` are " +"cast to ``str``. Previously, we had handled path types as strings without" +" casting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:783 +msgid "0.10.24 (2024-02-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:788 +msgid "" +"Added tracking of contact time in the " +":class:`omni.isaac.lab.sensors.ContactSensor` class. Previously, only the" +" air time was being tracked." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:790 +msgid "" +"Added contact force threshold, " +":attr:`omni.isaac.lab.sensors.ContactSensorCfg.force_threshold`, to " +"detect when the contact sensor is in contact. Previously, this was set to" +" hard-coded 1.0 in the sensor class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:795 +msgid "0.10.23 (2024-02-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:800 +msgid "" +"Fixes the order of size arguments in " +":meth:`omni.isaac.lab.terrains.height_field.random_uniform_terrain`. " +"Previously, the function would crash if the size along x and y were not " +"the same." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:804 +msgid "0.10.22 (2024-02-14)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:809 +msgid "" +"Fixed \"divide by zero\" bug in " +":class:`~omni.isaac.lab.sim.SimulationContext` when setting gravity " +"vector. Now, it is correctly disabled when the gravity vector is set to " +"zero." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:814 +msgid "0.10.21 (2024-02-12)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:819 +msgid "" +"Fixed the printing of articulation joint information when the " +"articulation has only one joint. Earlier, the function was performing a " +"squeeze operation on the tensor, which caused an error when trying to " +"index the tensor of shape (1,)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:825 +msgid "0.10.20 (2024-02-12)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:830 +msgid "" +"Adds :attr:`omni.isaac.lab.sim.PhysxCfg.enable_enhanced_determinism` to " +"enable improved determinism from PhysX. Please note this comes at the " +"expense of performance." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:835 +msgid "0.10.19 (2024-02-08)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:840 +msgid "" +"Fixed environment closing so that articulations, objects, and sensors are" +" cleared properly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:844 +msgid "0.10.18 (2024-02-05)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:849 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:173 +msgid "" +"Pinned :mod:`torch` version to 2.0.1 in the setup.py to keep parity " +"version of :mod:`torch` supplied by Isaac 2023.1.1, and prevent version " +"incompatibility between :mod:`torch` ==2.2 and :mod:`typing-extensions` " +"==3.7.4.3" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:855 +msgid "0.10.17 (2024-02-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:860 +msgid "" +"Fixed carb setting ``/app/livestream/enabled`` to be set as False unless " +"live-streaming is specified by :class:`omni.isaac.lab.app.AppLauncher` " +"settings. This fixes the logic of :meth:`SimulationContext.render`, which" +" depended on the config in previous versions of Isaac defaulting to false" +" for this setting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:866 +msgid "0.10.16 (2024-01-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:871 +msgid "" +"Added an offset parameter to the height scan observation term. This " +"allows the user to specify the height offset of the scan from the tracked" +" body. Previously it was hard-coded to be 0.5." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:876 +msgid "0.10.15 (2024-01-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:881 +msgid "" +"Fixed joint torque computation for implicit actuators. Earlier, the " +"torque was always zero for implicit actuators. Now, it is computed " +"approximately by applying the PD law." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:886 +msgid "0.10.14 (2024-01-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:891 +msgid "" +"Fixed the tensor shape of " +":attr:`omni.isaac.lab.sensors.ContactSensorData.force_matrix_w`. Earlier," +" the reshaping led to a mismatch with the data obtained from PhysX." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:896 +msgid "0.10.13 (2024-01-15)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:901 +msgid "" +"Fixed running of environments with a single instance even if the " +":attr:`replicate_physics`` flag is set to True." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:905 +msgid "0.10.12 (2024-01-10)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:910 +msgid "" +"Fixed indexing of source and target frames in the " +":class:`omni.isaac.lab.sensors.FrameTransformer` class. Earlier, it " +"always assumed that the source frame body is at index 0. Now, it uses the" +" body index of the source frame to compute the transformation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:917 +msgid "" +"Renamed quantities in the " +":class:`omni.isaac.lab.sensors.FrameTransformerData` class to be more " +"consistent with the terminology used in the asset classes. The following " +"quantities are deprecated:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:920 +msgid "``target_rot_w`` -> ``target_quat_w``" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:921 +msgid "``source_rot_w`` -> ``source_quat_w``" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:922 +msgid "``target_rot_source`` -> ``target_quat_source``" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:926 +msgid "0.10.11 (2024-01-08)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:931 +msgid "" +"Fixed attribute error raised when calling the " +":class:`omni.isaac.lab.envs.mdp.TerrainBasedPositionCommand` command " +"term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:933 +msgid "" +"Added a dummy function in :class:`omni.isaac.lab.terrain.TerrainImporter`" +" that returns environment origins as terrain-aware sampled targets. This " +"function should be implemented by child classes based on the terrain " +"type." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:939 +msgid "0.10.10 (2023-12-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:944 +msgid "" +"Fixed reliance on non-existent ``Viewport`` in " +":class:`omni.isaac.lab.sim.SimulationContext` when loading livestreaming " +"by ensuring that the extension ``omni.kit.viewport.window`` is enabled in" +" :class:`omni.isaac.lab.app.AppLauncher` when livestreaming is enabled" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:950 +msgid "0.10.9 (2023-12-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:955 +msgid "" +"Fixed invalidation of physics views inside the asset and sensor classes. " +"Earlier, they were left initialized even when the simulation was stopped." +" This caused issues when closing the application." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:960 +msgid "0.10.8 (2023-12-20)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:965 +msgid "" +"Fixed the " +":class:`omni.isaac.lab.envs.mdp.actions.DifferentialInverseKinematicsAction`" +" class to account for the offset pose of the end-effector." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:970 +msgid "0.10.7 (2023-12-19)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:975 +msgid "" +"Added a check to ray-cast and camera sensor classes to ensure that the " +"sensor prim path does not have a regex expression at its leaf. For " +"instance, ``/World/Robot/camera_.*`` is not supported for these sensor " +"types. This behavior needs to be fixed in the future." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:981 +msgid "0.10.6 (2023-12-19)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:986 +msgid "" +"Added support for using articulations as visualization markers. This " +"disables all physics APIs from the articulation and allows the user to " +"use it as a visualization marker. It is useful for creating visualization" +" markers for the end-effectors or base of the robot." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:993 +msgid "" +"Fixed hiding of debug markers from secondary images when using the " +":class:`omni.isaac.lab.markers.VisualizationMarkers` class. Earlier, the " +"properties were applied on the XForm prim instead of the Mesh prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:999 +msgid "0.10.5 (2023-12-18)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1004 +msgid "" +"Fixed test ``check_base_env_anymal_locomotion.py``, which previously " +"called :func:`torch.jit.load` with the path to a policy (which would work" +" for a local file), rather than calling " +":func:`omni.isaac.lab.utils.assets.read_file` on the path to get the file" +" itself." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1011 +msgid "0.10.4 (2023-12-14)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1016 +msgid "" +"Fixed potentially breaking import of omni.kit.widget.toolbar by ensuring " +"that if live-stream is enabled, then the :mod:`omni.kit.widget.toolbar` " +"extension is loaded." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1021 +msgid "0.10.3 (2023-12-12)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1026 +msgid "" +"Added the attribute " +":attr:`omni.isaac.lab.actuators.ActuatorNetMLPCfg.input_order` to specify" +" the order of the input tensors to the MLP network." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1032 +msgid "" +"Fixed computation of metrics for the velocity command term. Earlier, the " +"norm was being computed over the entire batch instead of the last " +"dimension." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1034 +msgid "" +"Fixed the clipping inside the :class:`omni.isaac.lab.actuators.DCMotor` " +"class. Earlier, it was not able to handle the case when configured " +"saturation limit was set to None." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1039 +msgid "0.10.2 (2023-12-12)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1044 +msgid "" +"Added a check in the simulation stop callback in the " +":class:`omni.isaac.lab.sim.SimulationContext` class to not render when an" +" exception is raised. The while loop in the callback was preventing the " +"application from closing when an exception was raised." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1050 +msgid "0.10.1 (2023-12-06)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1055 +msgid "" +"Added command manager class with terms defined by " +":class:`omni.isaac.lab.managers.CommandTerm`. This allow for multiple " +"types of command generators to be used in the same environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1060 +msgid "0.10.0 (2023-12-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1065 +msgid "" +"Modified the sensor and asset base classes to use the underlying PhysX " +"views instead of Isaac Sim views. Using Isaac Sim classes led to a very " +"high load time (of the order of minutes) when using a scene with many " +"assets. This is because Isaac Sim supports USD paths which are slow and " +"not required." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1072 +msgid "" +"Added faster implementation of USD stage traversal methods inside the " +":class:`omni.isaac.lab.sim.utils` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1073 +msgid "" +"Added properties :attr:`omni.isaac.lab.assets.AssetBase.num_instances` " +"and :attr:`omni.isaac.lab.sensor.SensorBase.num_instances` to obtain the " +"number of instances of the asset or sensor in the simulation " +"respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1080 +msgid "" +"Removed dependencies on Isaac Sim view classes. It is no longer possible " +"to use :attr:`root_view` and :attr:`body_view`. Instead use " +":attr:`root_physx_view` and :attr:`body_physx_view` to access the " +"underlying PhysX views." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1086 +msgid "0.9.55 (2023-12-03)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1091 +msgid "" +"Fixed the Nucleus directory path in the " +":attr:`omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR`. Earlier, it was " +"referring to the ``NVIDIA/Assets`` directory instead of ``NVIDIA``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1096 +msgid "0.9.54 (2023-11-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1101 +msgid "" +"Fixed pose computation in the :class:`omni.isaac.lab.sensors.Camera` " +"class to obtain them from XFormPrimView instead of using " +"``UsdGeomCamera.ComputeLocalToWorldTransform`` method. The latter is not " +"updated correctly during GPU simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1104 +msgid "" +"Fixed initialization of the annotator info in the class " +":class:`omni.isaac.lab.sensors.Camera`. Previously all dicts had the same" +" memory address which caused all annotators to have the same info." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1106 +msgid "" +"Fixed the conversion of ``uint32`` warp arrays inside the " +":meth:`omni.isaac.lab.utils.array.convert_to_torch` method. PyTorch does " +"not support this type, so it is converted to ``int32`` before converting " +"to PyTorch tensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1108 +msgid "" +"Added render call inside " +":meth:`omni.isaac.lab.sim.SimulationContext.reset` to initialize " +"Replicator buffers when the simulation is reset." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1113 +msgid "0.9.53 (2023-11-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1118 +msgid "" +"Changed the behavior of passing :obj:`None` to the " +":class:`omni.isaac.lab.actuators.ActuatorBaseCfg` class. Earlier, they " +"were resolved to fixed default values. Now, they imply that the values " +"are loaded from the USD joint drive configuration." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1125 +msgid "" +"Added setting of joint armature and friction quantities to the " +"articulation class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1129 +msgid "0.9.52 (2023-11-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1134 +msgid "" +"Changed the warning print in " +":meth:`omni.isaac.lab.sim.utils.apply_nested` method to be more " +"descriptive. Earlier, it was printing a warning for every instanced prim." +" Now, it only prints a warning if it could not apply the attribute to any" +" of the prims." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1141 +msgid "" +"Added the method :meth:`omni.isaac.lab.utils.assets.retrieve_file_path` " +"to obtain the absolute path of a file on the Nucleus server or locally." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1147 +msgid "" +"Fixed hiding of STOP button in the :class:`AppLauncher` class when " +"running the simulation in headless mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1149 +msgid "" +"Fixed a bug with :meth:`omni.isaac.lab.sim.utils.clone` failing when the " +"input prim path had no parent (example: \"/Table\")." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1154 +msgid "0.9.51 (2023-11-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1159 +msgid "" +"Changed the :meth:`omni.isaac.lab.sensor.SensorBase.update` method to " +"always recompute the buffers if the sensor is in visualization mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1165 +msgid "" +"Added available entities to the error message when accessing a non-" +"existent entity in the :class:`InteractiveScene` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1167 +msgid "" +"Added a warning message when the user tries to reference an invalid prim " +"in the :class:`FrameTransformer` sensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1171 +msgid "0.9.50 (2023-11-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1176 +msgid "" +"Hid the ``STOP`` button in the UI when running standalone Python scripts." +" This is to prevent users from accidentally clicking the button and " +"stopping the simulation. They should only be able to play and pause the " +"simulation from the UI." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1183 +msgid "" +"Removed :attr:`omni.isaac.lab.sim.SimulationCfg.shutdown_app_on_stop`. " +"The simulation is always rendering if it is stopped from the UI. The user" +" needs to close the window or press ``Ctrl+C`` to close the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1188 +msgid "0.9.49 (2023-11-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1193 +msgid "" +"Added an interface class, " +":class:`omni.isaac.lab.managers.ManagerTermBase`, to serve as the parent " +"class for term implementations that are functional classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1195 +msgid "" +"Adapted all managers to support terms that are classes and not just " +"functions clearer. This allows the user to create more complex terms that" +" require additional state information." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1200 +msgid "0.9.48 (2023-11-24)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1205 +msgid "" +"Fixed initialization of drift in the " +":class:`omni.isaac.lab.sensors.RayCasterCamera` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1209 +msgid "0.9.47 (2023-11-24)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1214 +msgid "" +"Automated identification of the root prim in the " +":class:`omni.isaac.lab.assets.RigidObject` and " +":class:`omni.isaac.lab.assets.Articulation` classes. Earlier, the root " +"prim was hard-coded to the spawn prim path. Now, the class searches for " +"the root prim under the spawn prim path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1220 +msgid "0.9.46 (2023-11-24)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1225 +msgid "" +"Fixed a critical issue in the asset classes with writing states into " +"physics handles. Earlier, the states were written over all the indices " +"instead of the indices of the asset that were being updated. This caused " +"the physics handles to refresh the states of all the assets in the scene," +" which is not desirable." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1232 +msgid "0.9.45 (2023-11-24)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1237 +msgid "" +"Added " +":class:`omni.isaac.lab.command_generators.UniformPoseCommandGenerator` to" +" generate poses in the asset's root frame by uniformly sampling from a " +"given range." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1242 +msgid "0.9.44 (2023-11-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1247 +msgid "" +"Added methods :meth:`reset` and :meth:`step` to the " +":class:`omni.isaac.lab.envs.BaseEnv`. This unifies the environment " +"interface for simple standalone applications with the class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1252 +msgid "0.9.43 (2023-11-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1257 +msgid "" +"Replaced subscription of physics play and stop events in the " +":class:`omni.isaac.lab.assets.AssetBase` and " +":class:`omni.isaac.lab.sensors.SensorBase` classes with subscription to " +"time-line play and stop events. This is to prevent issues in cases where " +"physics first needs to perform mesh cooking and handles are not available" +" immediately. For instance, with deformable meshes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1264 +msgid "0.9.42 (2023-11-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1269 +msgid "" +"Fixed setting of damping values from the configuration for " +":class:`ActuatorBase` class. Earlier, the stiffness values were being set" +" into damping when a dictionary configuration was passed to the actuator " +"model." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1272 +msgid "" +"Added dealing with :class:`int` and :class:`float` values in the " +"configurations of :class:`ActuatorBase`. Earlier, a type-error was thrown" +" when integer values were passed to the actuator model." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1277 +msgid "0.9.41 (2023-11-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1282 +msgid "Fixed the naming and shaping issues in the binary joint action term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1286 +msgid "0.9.40 (2023-11-09)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1291 +msgid "" +"Simplified the manual initialization of Isaac Sim " +":class:`ArticulationView` class. Earlier, we basically copied the code " +"from the Isaac Sim source code. Now, we just call their initialize " +"method." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1297 +msgid "" +"Changed the name of attribute :attr:`default_root_state_w` to " +":attr:`default_root_state`. The latter is more correct since the data is " +"actually in the local environment frame and not the simulation world " +"frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1302 +msgid "0.9.39 (2023-11-08)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1307 +msgid "" +"Changed the reference of private ``_body_view`` variable inside the " +":class:`RigidObject` class to the public ``body_view`` property. For a " +"rigid object, the private variable is not defined." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1312 +msgid "0.9.38 (2023-11-07)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1317 +msgid "" +"Upgraded the :class:`omni.isaac.lab.envs.RLTaskEnv` class to support Gym " +"0.29.0 environment definition." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1322 +msgid "" +"Added computation of ``time_outs`` and ``terminated`` signals inside the " +"termination manager. These follow the definition mentioned in `Gym 0.29.0" +" " +"`_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1324 +msgid "" +"Added proper handling of observation and action spaces in the " +":class:`omni.isaac.lab.envs.RLTaskEnv` class. These now follow closely to" +" how Gym VecEnv handles the spaces." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1329 +msgid "0.9.37 (2023-11-06)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1334 +msgid "" +"Fixed broken visualization in " +":mod:`omni.isaac.lab.sensors.FrameTramsformer` class by overwriting the " +"correct ``_debug_vis_callback`` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1336 +msgid "" +"Moved the visualization marker configurations of sensors to their " +"respective sensor configuration classes. This allows users to set these " +"configurations from the configuration object itself." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1341 +msgid "0.9.36 (2023-11-03)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1346 +msgid "" +"Added explicit deleting of different managers in the " +":class:`omni.isaac.lab.envs.BaseEnv` and " +":class:`omni.isaac.lab.envs.RLTaskEnv` classes. This is required since " +"deleting the managers is order-sensitive (many managers need to be " +"deleted before the scene is deleted)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1352 +msgid "0.9.35 (2023-11-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1357 +msgid "" +"Fixed the error: ``'str' object has no attribute '__module__'`` " +"introduced by adding the future import inside the " +":mod:`omni.isaac.lab.utils.warp.kernels` module. Warp language does not " +"support the ``__future__`` imports." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1362 +msgid "0.9.34 (2023-11-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1367 +msgid "" +"Added missing import of ``from __future__ import annotations`` in the " +":mod:`omni.isaac.lab.utils.warp` module. This is needed to have a " +"consistent behavior across Python versions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1372 +msgid "0.9.33 (2023-11-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1377 +msgid "" +"Fixed the :class:`omni.isaac.lab.command_generators.NullCommandGenerator`" +" class. Earlier, it was having a runtime error due to infinity in the " +"resampling time range. Now, the class just overrides the parent methods " +"to perform no operations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1383 +msgid "0.9.32 (2023-11-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1388 +msgid "" +"Renamed the :class:`omni.isaac.lab.envs.RLEnv` class to " +":class:`omni.isaac.lab.envs.RLTaskEnv` to avoid confusions in " +"terminologies between environments and tasks." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1393 +msgid "0.9.31 (2023-11-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1398 +#, python-format +msgid "" +"Added the :class:`omni.isaac.lab.sensors.RayCasterCamera` class, as a " +"ray-casting based camera for \"distance_to_camera\", " +"\"distance_to_image_plane\" and \"normals\" annotations. It has the same " +"interface and functionalities as the USD Camera while it is on average " +"30% faster." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1404 +msgid "0.9.30 (2023-11-01)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1409 +msgid "" +"Added skipping of None values in the :class:`InteractiveScene` class when" +" creating the scene from configuration objects. Earlier, it was throwing " +"an error when the user passed a None value for a scene element." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1411 +msgid "" +"Added ``kwargs`` to the :class:`RLEnv` class to allow passing additional " +"arguments from gym registry function. This is now needed since the " +"registry function passes args beyond the ones specified in the " +"constructor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1416 +msgid "0.9.29 (2023-11-01)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1421 +msgid "" +"Fixed the material path resolution inside the " +":class:`omni.isaac.lab.sim.converters.UrdfConverter` class. With Isaac " +"Sim 2023.1, the material paths from the importer are always saved as " +"absolute paths. This caused issues when the generated USD file was moved " +"to a different location. The fix now resolves the material paths relative" +" to the USD file location." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1428 +msgid "0.9.28 (2023-11-01)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1433 +msgid "" +"Changed the way the " +":func:`omni.isaac.lab.sim.spawners.from_files.spawn_ground_plane` " +"function sets the height of the ground. Earlier, it was reading the " +"height from the configuration object. Now, it expects the desired " +"transformation as inputs to the function. This makes it consistent with " +"the other spawner functions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1439 +msgid "0.9.27 (2023-10-31)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1444 +msgid "" +"Removed the default value of the argument ``camel_case`` in setters of " +"USD attributes. This is to avoid confusion with the naming of the " +"attributes in the USD file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1450 +msgid "" +"Fixed the selection of material prim in the " +":class:`omni.isaac.lab.sim.spawners.materials.spawn_preview_surface` " +"method. Earlier, the created prim was being selected in the viewport " +"which interfered with the selection of prims by the user." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1453 +msgid "" +"Updated :class:`omni.isaac.lab.sim.converters.MeshConverter` to use a " +"different stage than the default stage for the conversion. This is to " +"avoid the issue of the stage being closed when the conversion is done." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1458 +msgid "0.9.26 (2023-10-31)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1463 +msgid "" +"Added the sensor implementation for " +":class:`omni.isaac.lab.sensors.FrameTransformer` class. Currently, it " +"handles obtaining the transformation between two frames in the same " +"articulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1468 +msgid "0.9.25 (2023-10-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1473 +msgid "" +"Added the :mod:`omni.isaac.lab.envs.ui` module to put all the UI-related " +"classes in one place. This currently implements the " +":class:`omni.isaac.lab.envs.ui.BaseEnvWindow` and " +":class:`omni.isaac.lab.envs.ui.RLEnvWindow` classes. Users can inherit " +"from these classes to create their own UI windows." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1476 +msgid "" +"Added the attribute " +":attr:`omni.isaac.lab.envs.BaseEnvCfg.ui_window_class_type` to specify " +"the UI window class to be used for the environment. This allows the user " +"to specify their own UI window class to be used for the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1482 +msgid "0.9.24 (2023-10-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1487 +msgid "" +"Changed the behavior of setting up debug visualization for assets, " +"sensors and command generators. Earlier it was raising an error if debug " +"visualization was not enabled in the configuration object. Now it checks " +"whether debug visualization is implemented and only sets up the callback " +"if it is implemented." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1494 +msgid "0.9.23 (2023-10-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1499 +msgid "" +"Fixed a typo in the :class:`AssetBase` and :class:`SensorBase` that " +"effected the class destructor. Earlier, a tuple was being created in the " +"constructor instead of the actual object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1504 +msgid "0.9.22 (2023-10-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1509 +msgid "" +"Added a :class:`omni.isaac.lab.command_generators.NullCommandGenerator` " +"class for no command environments. This is easier to work with than " +"having checks for :obj:`None` in the command generator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1515 +msgid "" +"Moved the randomization manager to the " +":class:`omni.isaac.lab.envs.BaseEnv` class with the default settings to " +"reset the scene to the defaults specified in the configurations of " +"assets." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1517 +msgid "" +"Moved command generator to the :class:`omni.isaac.lab.envs.RlEnv` class " +"to have all task-specification related classes in the same place." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1522 +msgid "0.9.21 (2023-10-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1527 +msgid "" +"Decreased the priority of callbacks in asset and sensor base classes. " +"This may help in preventing crashes when warm starting the simulation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1529 +msgid "" +"Fixed no rendering mode when running the environment from the GUI. " +"Earlier the function :meth:`SimulationContext.set_render_mode` was " +"erroring out." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1534 +msgid "0.9.20 (2023-10-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1539 +msgid "" +"Changed naming in " +":class:`omni.isaac.lab.sim.SimulationContext.RenderMode` to use " +"``NO_GUI_OR_RENDERING`` and ``NO_RENDERING`` instead of ``HEADLESS`` for " +"clarity." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1541 +msgid "" +"Changed :class:`omni.isaac.lab.sim.SimulationContext` to be capable of " +"handling livestreaming and offscreen rendering." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1543 +msgid "" +"Changed :class:`omni.isaac.lab.app.AppLauncher` envvar " +"``VIEWPORT_RECORD`` to the more descriptive ``OFFSCREEN_RENDER``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1548 +msgid "0.9.19 (2023-10-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1553 +msgid "" +"Added Gym observation and action spaces for the " +":class:`omni.isaac.lab.envs.RLEnv` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1557 +msgid "0.9.18 (2023-10-23)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1562 +msgid "" +"Created " +":class:`omni.isaac.lab.sim.converters.asset_converter.AssetConverter` to " +"serve as a base class for all asset converters." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1564 +msgid "" +"Added :class:`omni.isaac.lab.sim.converters.mesh_converter.MeshConverter`" +" to handle loading and conversion of mesh files (OBJ, STL and FBX) into " +"USD format." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1566 +msgid "" +"Added script ``convert_mesh.py`` to ``source/tools`` to allow users to " +"convert a mesh to USD via command line arguments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1571 +msgid "" +"Renamed the submodule :mod:`omni.isaac.lab.sim.loaders` to " +":mod:`omni.isaac.lab.sim.converters` to be more general with the " +"functionality of the module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1573 +msgid "" +"Updated ``check_instanceable.py`` script to convert relative paths to " +"absolute paths." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1577 +msgid "0.9.17 (2023-10-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1582 +msgid "" +"Added setters and getters for term configurations in the " +":class:`RandomizationManager`, :class:`RewardManager` and " +":class:`TerminationManager` classes. This allows the user to modify the " +"term configurations after the manager has been created." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1585 +msgid "" +"Added the method :meth:`compute_group` to the " +":class:`omni.isaac.lab.managers.ObservationManager` class to compute the " +"observations for only a given group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1587 +msgid "" +"Added the curriculum term for modifying reward weights after certain " +"environment steps." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1591 +msgid "0.9.16 (2023-10-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1596 +msgid "" +"Added support for keyword arguments for terms in the " +":class:`omni.isaac.lab.managers.ManagerBase`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1601 +msgid "" +"Fixed resetting of buffers in the :class:`TerminationManager` class. " +"Earlier, the values were being set to ``0.0`` instead of ``False``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1606 +msgid "0.9.15 (2023-10-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1611 +msgid "" +"Added base yaw heading and body acceleration into " +":class:`omni.isaac.lab.assets.RigidObjectData` class. These quantities " +"are computed inside the :class:`RigidObject` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1617 +msgid "" +"Fixed the " +":meth:`omni.isaac.lab.assets.RigidObject.set_external_force_and_torque` " +"method to correctly deal with the body indices." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1619 +msgid "" +"Fixed a bug in the :meth:`omni.isaac.lab.utils.math.wrap_to_pi` method to" +" prevent self-assignment of the input tensor." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1624 +msgid "0.9.14 (2023-10-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1629 +msgid "" +"Added 2-D drift (i.e. along x and y) to the " +":class:`omni.isaac.lab.sensors.RayCaster` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1630 +msgid "" +"Added flags to the :class:`omni.isaac.lab.sensors.ContactSensorCfg` to " +"optionally obtain the sensor origin and air time information. Since these" +" are not required by default, they are disabled by default." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1637 +msgid "" +"Fixed the handling of contact sensor history buffer in the " +":class:`omni.isaac.lab.sensors.ContactSensor` class. Earlier, the buffer " +"was not being updated correctly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1642 +msgid "0.9.13 (2023-10-20)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1647 +msgid "" +"Fixed the issue with double :obj:`Ellipsis` when indexing tensors with " +"multiple dimensions. The fix now uses :obj:`slice(None)` instead of " +":obj:`Ellipsis` to index the tensors." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1652 +msgid "0.9.12 (2023-10-18)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1657 +msgid "" +"Fixed bugs in actuator model implementation for actuator nets. Earlier " +"the DC motor clipping was not working." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1658 +msgid "" +"Fixed bug in applying actuator model in the " +":class:`omni.isaac.lab.asset.Articulation` class. The new implementation " +"caches the outputs from explicit actuator model into the " +"``joint_pos_*_sim`` buffer to avoid feedback loops in the tensor " +"operation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1664 +msgid "0.9.11 (2023-10-17)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1669 +msgid "" +"Added the support for semantic tags into the " +":class:`omni.isaac.lab.sim.spawner.SpawnerCfg` class. This allows the " +"user to specify the semantic tags for a prim when spawning it into the " +"scene. It follows the same format as Omniverse Replicator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1675 +msgid "0.9.10 (2023-10-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1680 +msgid "" +"Added ``--livestream`` and ``--ros`` CLI args to " +":class:`omni.isaac.lab.app.AppLauncher` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1681 +msgid "" +"Added a static function " +":meth:`omni.isaac.lab.app.AppLauncher.add_app_launcher_args`, which " +"appends the arguments needed for :class:`omni.isaac.lab.app.AppLauncher` " +"to the argument parser." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1687 +msgid "" +"Within :class:`omni.isaac.lab.app.AppLauncher`, removed " +"``REMOTE_DEPLOYMENT`` env-var processing in the favor of ``HEADLESS`` and" +" ``LIVESTREAM`` env-vars. These have clearer uses and better parity with " +"the CLI args." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1693 +msgid "0.9.9 (2023-10-12)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1698 +msgid "" +"Added the property " +":attr:`omni.isaac.lab.assets.Articulation.is_fixed_base` to the " +"articulation class to check if the base of the articulation is fixed or " +"floating." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1700 +msgid "" +"Added the task-space action term corresponding to the differential " +"inverse-kinematics controller." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1705 +msgid "" +"Simplified the " +":class:`omni.isaac.lab.controllers.DifferentialIKController` to assume " +"that user provides the correct end-effector poses and Jacobians. Earlier " +"it was doing internal frame transformations which made the code more " +"complicated and error-prone." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1711 +msgid "0.9.8 (2023-09-30)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1716 +msgid "" +"Fixed the boundedness of class objects that register callbacks into the " +"simulator. These include devices, :class:`AssetBase`, :class:`SensorBase`" +" and :class:`CommandGenerator`. The fix ensures that object gets deleted " +"when the user deletes the object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1722 +msgid "0.9.7 (2023-09-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1727 +msgid "" +"Modified the :class:`omni.isaac.lab.markers.VisualizationMarkers` to use " +"the :class:`omni.isaac.lab.sim.spawner.SpawnerCfg` class instead of their" +" own configuration objects. This makes it consistent with the other ways " +"to spawn assets in the scene." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1734 +msgid "" +"Added the method :meth:`copy` to configclass to allow copying of " +"configuration objects." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1738 +msgid "0.9.6 (2023-09-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1743 +msgid "" +"Changed class-level configuration classes to refer to class types using " +"``class_type`` attribute instead of ``cls`` or ``cls_name``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1748 +msgid "0.9.5 (2023-09-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1753 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:250 +msgid "" +"Added future import of ``annotations`` to have a consistent behavior " +"across Python versions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1754 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:251 +msgid "" +"Removed the type-hinting from docstrings to simplify maintenance of the " +"documentation. All type-hints are now in the code itself." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1759 +msgid "0.9.4 (2023-08-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1764 +msgid "" +"Added :class:`omni.isaac.lab.scene.InteractiveScene`, as the central " +"scene unit that contains all entities that are part of the simulation. " +"These include the terrain, sensors, articulations, rigid objects etc. The" +" scene groups the common operations of these entities and allows to " +"access them via their unique names." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1767 +msgid "" +"Added :mod:`omni.isaac.lab.envs` module that contains environment " +"definitions that encapsulate the different general (scene, action " +"manager, observation manager) and RL-specific (reward and termination " +"manager) managers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1769 +msgid "" +"Added :class:`omni.isaac.lab.managers.SceneEntityCfg` to handle which " +"scene elements are required by the manager's terms. This allows the " +"manager to parse useful information from the scene elements, such as the " +"joint and body indices, and pass them to the term." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1772 +msgid "" +"Added :class:`omni.isaac.lab.sim.SimulationContext.RenderMode` to handle " +"different rendering modes based on what the user wants to update " +"(viewport, cameras, or UI elements)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1778 +msgid "" +"Fixed the :class:`omni.isaac.lab.command_generators.CommandGeneratorBase`" +" to register a debug visualization callback similar to how sensors and " +"robots handle visualization." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1783 +msgid "0.9.3 (2023-08-23)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1788 +msgid "" +"Enabled the `faulthander " +"`_ to catch " +"segfaults and print the stack trace. This is enabled by default in the " +":class:`omni.isaac.lab.app.AppLauncher` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1794 +msgid "" +"Re-added the :mod:`omni.isaac.lab.utils.kit` to the ``compat`` directory " +"and fixed all the references to it." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1795 +msgid "" +"Fixed the deletion of Replicator nodes for the " +":class:`omni.isaac.lab.sensors.Camera` class. Earlier, the Replicator " +"nodes were not being deleted when the camera was deleted. However, this " +"does not prevent the random crashes that happen when the camera is " +"deleted." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1798 +msgid "" +"Fixed the :meth:`omni.isaac.lab.utils.math.convert_quat` to support both " +"numpy and torch tensors." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1803 +msgid "" +"Renamed all the scripts inside the ``test`` directory to follow the " +"convention:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1805 +msgid "" +"``test_.py``: Tests for the module ```` using " +"unittest." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1806 +msgid "" +"``check_``: Check for the module ```` using " +"python main function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1810 +msgid "0.9.2 (2023-08-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1815 +msgid "" +"Added the ability to color meshes in the " +":class:`omni.isaac.lab.terrain.TerrainGenerator` class. Currently, it " +"only supports coloring the mesh randomly (``\"random\"``), based on the " +"terrain height (``\"height\"``), and no coloring (``\"none\"``)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1822 +msgid "" +"Modified the :class:`omni.isaac.lab.terrain.TerrainImporter` class to " +"configure visual and physics materials based on the configuration object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1827 +msgid "0.9.1 (2023-08-18)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1832 +msgid "" +"Introduced three different rotation conventions in the " +":class:`omni.isaac.lab.sensors.Camera` class. These conventions are:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1835 +msgid "" +"``opengl``: the camera is looking down the -Z axis with the +Y axis " +"pointing up" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1836 +msgid "" +"``ros``: the camera is looking down the +Z axis with the +Y axis pointing" +" down" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1837 +msgid "" +"``world``: the camera is looking along the +X axis with the -Z axis " +"pointing down" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1839 +msgid "" +"These can be used to declare the camera offset in " +":class:`omni.isaac.lab.sensors.CameraCfg.OffsetCfg` class and in " +":meth:`omni.isaac.lab.sensors.Camera.set_world_pose` method. " +"Additionally, all conventions are saved to " +":class:`omni.isaac.lab.sensors.CameraData` class for easy access." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1846 +msgid "" +"Adapted all the sensor classes to follow a structure similar to the " +":class:`omni.isaac.lab.assets.AssetBase`. Hence, the spawning and " +"initialization of sensors manually by the users is avoided." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1848 +msgid "" +"Removed the :meth:`debug_vis` function since that this functionality is " +"handled by a render callback automatically (based on the passed " +"configuration for the " +":class:`omni.isaac.lab.sensors.SensorBaseCfg.debug_vis` flag)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1853 +msgid "0.9.0 (2023-08-18)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1858 +msgid "" +"Introduces a new set of asset interfaces. These interfaces simplify the " +"spawning of assets into the scene and initializing the physics handle by " +"putting that inside post-startup physics callbacks. With this, users no " +"longer need to worry about the :meth:`spawn` and :meth:`initialize` " +"calls." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1861 +msgid "" +"Added utility methods to :mod:`omni.isaac.lab.utils.string` module that " +"resolve regex expressions based on passed list of target keys." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1867 +msgid "" +"Renamed all references of joints in an articulation from \"dof\" to " +"\"joint\". This makes it consistent with the terminology used in " +"robotics." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1873 +msgid "" +"Removed the previous modules for objects and robots. Instead the " +":class:`Articulation` and :class:`RigidObject` should be used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1878 +msgid "0.8.12 (2023-08-18)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1883 +msgid "" +"Added other properties provided by ``PhysicsScene`` to the " +":class:`omni.isaac.lab.sim.SimulationContext` class to allow setting CCD," +" solver iterations, etc." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1885 +msgid "" +"Added commonly used functions to the :class:`SimulationContext` class " +"itself to avoid having additional imports from Isaac Sim when doing " +"simple tasks such as setting camera view or retrieving the simulation " +"settings." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1891 +msgid "" +"Switched the notations of default buffer values in " +":class:`omni.isaac.lab.sim.PhysxCfg` from multiplication to scientific " +"notation to avoid confusion with the values." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1896 +msgid "0.8.11 (2023-08-18)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1901 +msgid "" +"Adds utility functions and configuration objects in the " +":mod:`omni.isaac.lab.sim.spawners` to create the following prims in the " +"scene:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1904 +msgid "" +":mod:`omni.isaac.lab.sim.spawners.from_file`: Create a prim from a " +"USD/URDF file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1905 +msgid "" +":mod:`omni.isaac.lab.sim.spawners.shapes`: Create USDGeom prims for " +"shapes (box, sphere, cylinder, capsule, etc.)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1906 +msgid "" +":mod:`omni.isaac.lab.sim.spawners.materials`: Create a visual or physics " +"material prim." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1907 +msgid "" +":mod:`omni.isaac.lab.sim.spawners.lights`: Create a USDLux prim for " +"different types of lights." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1908 +msgid "" +":mod:`omni.isaac.lab.sim.spawners.sensors`: Create a USD prim for " +"supported sensors." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1913 +msgid "" +"Modified the :class:`SimulationContext` class to take the default physics" +" material using the material spawn configuration object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1918 +msgid "0.8.10 (2023-08-17)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1923 +msgid "" +"Added methods for defining different physics-based schemas in the " +":mod:`omni.isaac.lab.sim.schemas` module. These methods allow creating " +"the schema if it doesn't exist at the specified prim path and modify its " +"properties based on the configuration object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1929 +msgid "0.8.9 (2023-08-09)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1934 +msgid "" +"Moved the :class:`omni.isaac.lab.asset_loader.UrdfLoader` class to the " +":mod:`omni.isaac.lab.sim.loaders` module to make it more accessible to " +"the user." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1939 +msgid "0.8.8 (2023-08-09)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1944 +msgid "" +"Added configuration classes and functions for setting different physics-" +"based schemas in the :mod:`omni.isaac.lab.sim.schemas` module. These " +"allow modifying properties of the physics solver on the asset using " +"configuration objects." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1950 +msgid "0.8.7 (2023-08-03)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1955 +msgid "" +"Added support for `__post_init__ " +"`_ in the :class:`omni.isaac.lab.utils.configclass` decorator." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1960 +msgid "0.8.6 (2023-08-03)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1965 +msgid "" +"Added support for callable classes in the " +":class:`omni.isaac.lab.managers.ManagerBase`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1969 +msgid "0.8.5 (2023-08-03)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1974 +msgid "" +"Fixed the :class:`omni.isaac.lab.markers.Visualizationmarkers` class so " +"that the markers are not visible in camera rendering mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1979 +msgid "" +"Simplified the creation of the point instancer in the " +":class:`omni.isaac.lab.markers.Visualizationmarkers` class. It now " +"creates a new prim at the next available prim path if a prim already " +"exists at the given path." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1984 +msgid "0.8.4 (2023-08-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1989 +msgid "" +"Added the :class:`omni.isaac.lab.sim.SimulationContext` class to the " +":mod:`omni.isaac.lab.sim` module. This class inherits from the " +":class:`omni.isaac.core.simulation_context.SimulationContext` class and " +"adds the ability to create a simulation context from a configuration " +"object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:1995 +msgid "0.8.3 (2023-08-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2000 +msgid "" +"Moved the :class:`ActuatorBase` class to the " +":mod:`omni.isaac.lab.actuators.actuator_base` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2001 +msgid "" +"Renamed the :mod:`omni.isaac.lab.actuators.actuator` module to " +":mod:`omni.isaac.lab.actuators.actuator_pd` to make it more explicit that" +" it contains the PD actuator models." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2006 +msgid "0.8.2 (2023-08-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2011 +msgid "" +"Cleaned up the :class:`omni.isaac.lab.terrain.TerrainImporter` class to " +"take all the parameters from the configuration object. This makes it " +"consistent with the other classes in the package." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2013 +msgid "" +"Moved the configuration classes for terrain generator and terrain " +"importer into separate files to resolve circular dependency issues." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2018 +msgid "0.8.1 (2023-08-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2023 +msgid "" +"Added a hack into :class:`omni.isaac.lab.app.AppLauncher` class to remove" +" Isaac Lab packages from the path before launching the simulation " +"application. This prevents the warning messages that appears when the " +"user launches the ``SimulationApp``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2029 +msgid "" +"Enabled necessary viewport extensions in the " +":class:`omni.isaac.lab.app.AppLauncher` class itself if " +"``VIEWPORT_ENABLED`` flag is true." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2034 +msgid "0.8.0 (2023-07-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2039 +msgid "" +"Added the :class:`ActionManager` class to the " +":mod:`omni.isaac.lab.managers` module to handle actions in the " +"environment through action terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2041 +msgid "" +"Added contact force history to the " +":class:`omni.isaac.lab.sensors.ContactSensor` class. The history is " +"stored in the ``net_forces_w_history`` attribute of the sensor data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2047 +msgid "" +"Implemented lazy update of buffers in the " +":class:`omni.isaac.lab.sensors.SensorBase` class. This allows the user to" +" update the sensor data only when required, i.e. when the data is " +"requested by the user. This helps avoid double computation of sensor data" +" when a reset is called in the environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2054 +msgid "" +"Removed the support for different backends in the sensor class. We only " +"use Pytorch as the backend now." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2055 +msgid "" +"Removed the concept of actuator groups. They are now handled by the " +":class:`omni.isaac.lab.managers.ActionManager` class. The actuator models" +" are now directly handled by the robot class itself." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2060 +msgid "0.7.4 (2023-07-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2065 +msgid "" +"Changed the behavior of the " +":class:`omni.isaac.lab.terrains.TerrainImporter` class. It now expects " +"the terrain type to be specified in the configuration object. This allows" +" the user to specify everything in the configuration object and not have " +"to do an explicit call to import a terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2072 +msgid "" +"Fixed setting of quaternion orientations inside the " +":class:`omni.isaac.lab.markers.Visualizationmarkers` class. Earlier, the " +"orientation was being set into the point instancer in the wrong order " +"(``wxyz`` instead of ``xyzw``)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2077 +msgid "0.7.3 (2023-07-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2082 +msgid "" +"Fixed the issue with multiple inheritance in the " +":class:`omni.isaac.lab.utils.configclass` decorator. Earlier, if the " +"inheritance tree was more than one level deep and the lowest level " +"configuration class was not updating its values from the middle level " +"classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2088 +msgid "0.7.2 (2023-07-24)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2093 +msgid "" +"Added the method :meth:`replace` to the " +":class:`omni.isaac.lab.utils.configclass` decorator to allow creating a " +"new configuration object with values replaced from keyword arguments. " +"This function internally calls the `dataclasses.replace " +"`_." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2100 +msgid "" +"Fixed the handling of class types as member values in the " +":meth:`omni.isaac.lab.utils.configclass`. Earlier it was throwing an " +"error since class types were skipped in the if-else block." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2105 +msgid "0.7.1 (2023-07-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2110 +msgid "" +"Added the :class:`TerminationManager`, :class:`CurriculumManager`, and " +":class:`RandomizationManager` classes to the " +":mod:`omni.isaac.lab.managers` module to handle termination, curriculum, " +"and randomization respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2115 +msgid "0.7.0 (2023-07-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2120 +msgid "" +"Created a new :mod:`omni.isaac.lab.managers` module for all the managers " +"related to the environment / scene. This includes the " +":class:`omni.isaac.lab.managers.ObservationManager` and " +":class:`omni.isaac.lab.managers.RewardManager` classes that were " +"previously in the :mod:`omni.isaac.lab.utils.mdp` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2123 +msgid "" +"Added the :class:`omni.isaac.lab.managers.ManagerBase` class to handle " +"the creation of managers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2124 +msgid "" +"Added configuration classes for :class:`ObservationTermCfg` and " +":class:`RewardTermCfg` to allow easy creation of observation and reward " +"terms." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2130 +msgid "" +"Changed the behavior of :class:`ObservationManager` and " +":class:`RewardManager` classes to accept the key ``func`` in each " +"configuration term to be a callable. This removes the need to inherit " +"from the base class and allows more reusability of the functions across " +"different environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2133 +msgid "" +"Moved the old managers to the :mod:`omni.isaac.lab.compat.utils.mdp` " +"module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2134 +msgid "" +"Modified the necessary scripts to use the " +":mod:`omni.isaac.lab.compat.utils.mdp` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2138 +msgid "0.6.2 (2023-07-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2143 +msgid "" +"Added the :mod:`omni.isaac.lab.command_generators` to generate different " +"commands based on the desired task. It allows the user to generate " +"commands for different tasks in the same environment without having to " +"write custom code for each task." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2149 +msgid "0.6.1 (2023-07-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2154 +msgid "" +"Fixed the :meth:`omni.isaac.lab.utils.math.quat_apply_yaw` to compute the" +" yaw quaternion correctly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2159 +msgid "" +"Added functions to convert string and callable objects in " +":mod:`omni.isaac.lab.utils.string`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2163 +msgid "0.6.0 (2023-07-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2168 +msgid "" +"Added the argument :attr:`sort_keys` to the " +":meth:`omni.isaac.lab.utils.io.yaml.dump_yaml` method to allow " +"enabling/disabling of sorting of keys in the output yaml file." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2174 +msgid "" +"Fixed the ordering of terms in :mod:`omni.isaac.lab.utils.configclass` to" +" be consistent in the order in which they are defined. Previously, the " +"ordering was done alphabetically which made it inconsistent with the " +"order in which the parameters were defined." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2181 +msgid "" +"Changed the default value of the argument :attr:`sort_keys` in the " +":meth:`omni.isaac.lab.utils.io.yaml.dump_yaml` method to ``False``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2183 +msgid "" +"Moved the old config classes in :mod:`omni.isaac.lab.utils.configclass` " +"to :mod:`omni.isaac.lab.compat.utils.configclass` so that users can still" +" run their old code where alphabetical ordering was used." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2189 +msgid "0.5.0 (2023-07-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2194 +msgid "" +"Added a generalized :class:`omni.isaac.lab.sensors.SensorBase` class that" +" leverages the ideas of views to handle multiple sensors in a single " +"class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2196 +msgid "" +"Added the classes :class:`omni.isaac.lab.sensors.RayCaster`, " +":class:`omni.isaac.lab.sensors.ContactSensor`, and " +":class:`omni.isaac.lab.sensors.Camera` that output a batched tensor of " +"sensor data." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2202 +msgid "" +"Renamed the parameter ``sensor_tick`` to ``update_freq`` to make it more " +"intuitive." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2203 +msgid "" +"Moved the old sensors in :mod:`omni.isaac.lab.sensors` to " +":mod:`omni.isaac.lab.compat.sensors`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2204 +msgid "" +"Modified the standalone scripts to use the " +":mod:`omni.isaac.lab.compat.sensors` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2208 +msgid "0.4.4 (2023-07-05)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2213 +msgid "" +"Fixed the :meth:`omni.isaac.lab.terrains.trimesh.utils.make_plane` method" +" to handle the case when the plane origin does not need to be centered." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2215 +msgid "" +"Added the :attr:`omni.isaac.lab.terrains.TerrainGeneratorCfg.seed` to " +"make generation of terrains reproducible. The default value is ``None`` " +"which means that the seed is not set." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2221 +msgid "" +"Changed the saving of ``origins`` in " +":class:`omni.isaac.lab.terrains.TerrainGenerator` class to be in CSV " +"format instead of NPY format." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2226 +msgid "0.4.3 (2023-06-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2231 +msgid "" +"Added the :class:`omni.isaac.lab.markers.PointInstancerMarker` class that" +" wraps around `UsdGeom.PointInstancer " +"`_" +" to directly work with torch and numpy arrays." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2238 +msgid "" +"Moved the old markers in :mod:`omni.isaac.lab.markers` to " +":mod:`omni.isaac.lab.compat.markers`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2239 +msgid "" +"Modified the standalone scripts to use the " +":mod:`omni.isaac.lab.compat.markers` module." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2243 +msgid "0.4.2 (2023-06-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2248 +msgid "" +"Added the sub-module :mod:`omni.isaac.lab.terrains` to allow procedural " +"generation of terrains and supporting importing of terrains from " +"different sources (meshes, usd files or default ground plane)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2253 +msgid "0.4.1 (2023-06-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2255 +msgid "" +"Added the :class:`omni.isaac.lab.app.AppLauncher` class to allow " +"controlled instantiation of the `SimulationApp " +"`_" +" and extension loading for remote deployment and ROS bridges." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2262 +msgid "" +"Modified all standalone scripts to use the " +":class:`omni.isaac.lab.app.AppLauncher` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2266 +msgid "0.4.0 (2023-05-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2271 +msgid "" +"Added a helper class :class:`omni.isaac.lab.asset_loader.UrdfLoader` that" +" converts a URDF file to instanceable USD file based on the input " +"configuration object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2276 +msgid "0.3.2 (2023-04-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2281 +msgid "" +"Added safe-printing of functions while using the " +":meth:`omni.isaac.lab.utils.dict.print_dict` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2285 +msgid "0.3.1 (2023-04-23)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2290 +msgid "" +"Added a modified version of ``lula_franka_gen.urdf`` which includes an " +"end-effector frame." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2291 +msgid "Added a standalone script ``play_rmpflow.py`` to show RMPFlow controller." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2296 +msgid "" +"Fixed the splitting of commands in the :meth:`ActuatorGroup.compute` " +"method. Earlier it was reshaping the commands to the shape " +"``(num_actuators, num_commands)`` which was causing the commands to be " +"split incorrectly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2298 +msgid "" +"Fixed the processing of actuator command in the " +":meth:`RobotBase._process_actuators_cfg` to deal with multiple command " +"types when using \"implicit\" actuator group." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2302 +msgid "0.3.0 (2023-04-20)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2307 +msgid "Added the destructor to the keyboard devices to unsubscribe from carb." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2312 +msgid "" +"Added the :class:`Se2Gamepad` and :class:`Se3Gamepad` for gamepad " +"teleoperation support." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2316 +msgid "0.2.8 (2023-04-10)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2321 +msgid "" +"Fixed bugs in :meth:`axis_angle_from_quat` in the " +"``omni.isaac.lab.utils.math`` to handle quaternion with negative w " +"component." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2322 +msgid "" +"Fixed bugs in :meth:`subtract_frame_transforms` in the " +"``omni.isaac.lab.utils.math`` by adding the missing final rotation." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2326 +msgid "0.2.7 (2023-04-07)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2331 +msgid "" +"Fixed repetition in applying mimic multiplier for \"p_abs\" in the " +":class:`GripperActuatorGroup` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2332 +msgid "" +"Fixed bugs in :meth:`reset_buffers` in the :class:`RobotBase` and " +":class:`LeggedRobot` classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2335 +msgid "0.2.6 (2023-03-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2340 +msgid "" +"Added the :class:`CollisionPropertiesCfg` to rigid/articulated object and" +" robot base classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2341 +msgid "" +"Added the :class:`PhysicsMaterialCfg` to the :class:`SingleArm` class for" +" tool sites." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2346 +msgid "" +"Changed the default control mode of the :obj:`PANDA_HAND_MIMIC_GROUP_CFG`" +" to be from ``\"v_abs\"`` to ``\"p_abs\"``. Using velocity control for " +"the mimic group can cause the hand to move in a jerky manner." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2351 +msgid "0.2.5 (2023-03-08)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2356 +msgid "" +"Fixed the indices used for the Jacobian and dynamics quantities in the " +":class:`MobileManipulator` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2360 +msgid "0.2.4 (2023-03-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2365 +msgid "" +"Added :meth:`apply_nested_physics_material` to the " +"``omni.isaac.lab.utils.kit``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2366 +msgid "" +"Added the :meth:`sample_cylinder` to sample points from a cylinder's " +"surface." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2367 +msgid "" +"Added documentation about the issue in using instanceable asset as " +"markers." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2372 +msgid "" +"Simplified the physics material application in the rigid object and " +"legged robot classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2377 +msgid "" +"Removed the ``geom_prim_rel_path`` argument in the " +":class:`RigidObjectCfg.MetaInfoCfg` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2381 +msgid "0.2.3 (2023-02-24)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2386 +msgid "" +"Fixed the end-effector body index used for getting the Jacobian in the " +":class:`SingleArm` and :class:`MobileManipulator` classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2390 +msgid "0.2.2 (2023-01-27)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2395 +msgid "" +"Fixed the :meth:`set_world_pose_ros` and :meth:`set_world_pose_from_view`" +" in the :class:`Camera` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2400 +msgid "" +"Removed the :meth:`set_world_pose_from_ypr` method from the " +":class:`Camera` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2404 +msgid "0.2.1 (2023-01-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2409 +msgid "" +"Fixed the :class:`Camera` class to support different fisheye projection " +"types." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2413 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:398 +msgid "0.2.0 (2023-01-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2418 +msgid "Added support for warp backend in camera utilities." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2419 +msgid "" +"Extended the ``play_camera.py`` with ``--gpu`` flag to use GPU replicator" +" backend." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2422 +msgid "0.1.1 (2023-01-24)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2427 +msgid "" +"Fixed setting of physics material on the ground plane when using " +":meth:`omni.isaac.lab.utils.kit.create_ground_plane` function." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2431 +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:425 +msgid "0.1.0 (2023-01-17)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2436 +msgid "Initial release of the extension with experimental API." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2437 +msgid "Available robot configurations:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2439 +msgid "**Quadrupeds:** Unitree A1, ANYmal B, ANYmal C" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2440 +msgid "**Single-arm manipulators:** Franka Emika arm, UR5" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab/docs/CHANGELOG.rst:2441 +msgid "**Mobile manipulators:** Clearpath Ridgeback with Franka Emika arm or UR5" +msgstr "" + +#: ../../source/refs/changelog.rst:24 +msgid "omni.isaac.lab_assets" +msgstr "" + +#: ../../source/refs/changelog.rst:26 +msgid "Extension for configurations of various assets and sensors for Isaac Lab." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:2 +msgid "0.1.2 (2024-04-03)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:7 +msgid "" +"Added configurations for different arms from Kinova Robotics and Rethink " +"Robotics." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:11 +msgid "0.1.1 (2024-03-11)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:16 +msgid "Added configurations for allegro and shadow hand assets." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:20 +msgid "0.1.0 (2023-12-20)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_assets/docs/CHANGELOG.rst:25 +msgid "" +"Moved all assets' configuration from ``omni.isaac.lab`` to " +"``omni.isaac.lab_assets`` extension." +msgstr "" + +#: ../../source/refs/changelog.rst:33 +msgid "omni.isaac.lab_tasks" +msgstr "" + +#: ../../source/refs/changelog.rst:35 +msgid "Extension containing the environments built using Isaac Lab." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:2 +msgid "0.7.10 (2024-07-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:7 +msgid "Extended skrl wrapper to support training/evaluation using JAX" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:11 +msgid "0.7.9 (2024-07-01)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:16 +msgid "" +"Fixed the action space check in the Stable-Baselines3 wrapper. Earlier, " +"the wrapper checked the action space via " +":meth:`gymnasium.spaces.Box.is_bounded` method, which returned a bool " +"value instead of a string." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:22 +msgid "0.7.8 (2024-06-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:27 +msgid "Updated the skrl RL library integration to the latest release (>= 1.2.0)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:31 +msgid "0.7.7 (2024-06-14)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:36 +msgid "" +"Updated the tasks to use the renamed attribute " +":attr:`omni.isaac.lab.sim.SimulationCfg.render_interval`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:40 +msgid "0.7.6 (2024-06-13)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:45 +msgid "Added option to save images for Cartpole Camera environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:49 +msgid "0.7.5 (2024-05-31)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:54 +msgid "" +"Added exporting of empirical normalization layer to ONNX and JIT when " +"exporting the model using " +":meth:`omni.isaac.lab.actuators.ActuatorNetMLP.export` method. " +"Previously, the normalization layer was not exported to the ONNX and JIT " +"models. This caused the exported model to not work properly when used for" +" inference." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:61 +msgid "0.7.5 (2024-05-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:66 +msgid "" +"Added a new environment ``Isaac-Navigation-Flat-Anymal-C-v0`` to navigate" +" towards a target position on flat terrain." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:70 +msgid "0.7.4 (2024-05-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:75 +msgid "Made default device for RSL RL and SB3 configs to \"cuda:0\"." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:78 +msgid "0.7.3 (2024-05-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:83 +msgid "" +"Introduced ``--max_iterations`` argument to training scripts for " +"specifying number of training iterations." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:86 +msgid "0.7.2 (2024-05-13)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:91 +msgid "" +"Added Shadow Hand environments: ``Isaac-Shadow-Hand-Direct-v0``, ``Isaac-" +"Shadow-Hand-OpenAI-FF-Direct-v0``, and ``Isaac-Shadow-Hand-OpenAI-LSTM-" +"Direct-v0``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:96 +msgid "0.7.1 (2024-05-09)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:101 +msgid "" +"Added the skrl agent configurations for the config and direct workflow " +"tasks" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:105 +msgid "0.7.0 (2024-05-07)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:110 +msgid "" +"Renamed all references of ``BaseEnv``, ``RLTaskEnv``, and ``OIGEEnv`` to " +":class:`omni.isaac.lab.envs.ManagerBasedEnv`, " +":class:`omni.isaac.lab.envs.ManagerBasedRLEnv`, and " +":class:`omni.isaac.lab.envs.DirectRLEnv` respectively." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:113 +msgid "Split environments into ``manager_based`` and ``direct`` folders." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:118 +msgid "" +"Added direct workflow environments: * ``Isaac-Cartpole-Direct-v0``, " +"``Isaac-Cartpole-Camera-Direct-v0``, ``Isaac-Ant-Direct-v0``, ``Isaac-" +"Humanoid-Direct-v0``. * ``Isaac-Velocity-Flat-Anymal-C-Direct-v0``, " +"``Isaac-Velocity-Rough-Anymal-C-Direct-v0``, ``Isaac-Quadcopter-" +"Direct-v0``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:124 +msgid "0.6.1 (2024-04-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:129 +msgid "" +"Added a new environment ``Isaac-Repose-Cube-Allegro-v0`` and ``Isaac-" +"Repose-Allegro-Cube-NoVelObs-v0`` for the Allegro hand to reorient a " +"cube. It is based on the IsaacGymEnvs Allegro hand environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:134 +msgid "0.6.0 (2024-03-10)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:139 +msgid "" +"Added a new environment ``Isaac-Open-Drawer-Franka-v0`` for the Franka " +"arm to open a drawer. It is based on the IsaacGymEnvs cabinet " +"environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:145 +msgid "" +"Fixed logging of extra information for RL-Games wrapper. It expected the " +"extra information to be under the key ``\"episode\"``, but Isaac Lab used" +" the key ``\"log\"``. The wrapper now remaps the key to ``\"episode\"``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:150 +msgid "0.5.7 (2024-02-28)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:155 +msgid "" +"Updated the RL wrapper for the skrl library to the latest release (>= " +"1.1.0)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:159 +msgid "0.5.6 (2024-02-21)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:164 +msgid "" +"Fixed the configuration parsing to support a pre-initialized " +"configuration object." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:168 +msgid "0.5.5 (2024-02-05)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:179 +msgid "0.5.4 (2024-02-06)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:184 +msgid "" +"Added a check for the flag " +":attr:`omni.isaac.lab.envs.ManagerBasedRLEnvCfg.is_finite_horizon` in the" +" RSL-RL and RL-Games wrappers to handle the finite horizon tasks " +"properly. Earlier, the wrappers were always assuming the tasks to be " +"infinite horizon tasks and returning a time-out signals when the episode " +"length was reached." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:191 +msgid "0.5.3 (2023-11-16)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:196 +msgid "" +"Added raising of error in the " +":meth:`omni.isaac.lab_tasks.utils.importer.import_all` method to make " +"sure all the packages are imported properly. Previously, error was being " +"caught and ignored." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:201 +msgid "0.5.2 (2023-11-08)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:206 +msgid "" +"Fixed the RL wrappers for Stable-Baselines3 and RL-Games. It now works " +"with their most recent versions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:207 +msgid "" +"Fixed the :meth:`get_checkpoint_path` to allow any in-between sub-folders" +" between the run directory and the checkpoint directory." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:212 +msgid "0.5.1 (2023-11-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:217 +msgid "" +"Fixed the wrappers to different learning frameworks to use the new " +":class:`omni.isaac.lab_tasks.ManagerBasedRLEnv` class. The " +":class:`ManagerBasedRLEnv` class inherits from the :class:`gymnasium.Env`" +" class (Gym 0.29.0)." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:219 +msgid "" +"Fixed the registration of tasks in the Gym registry based on Gym 0.29.0 " +"API." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:224 +msgid "" +"Removed the inheritance of all the RL-framework specific wrappers from " +"the :class:`gymnasium.Wrapper` class. This is because the wrappers don't " +"comply with the new Gym 0.29.0 API. The wrappers are now only inherit " +"from their respective RL-framework specific base classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:230 +msgid "0.5.0 (2023-10-30)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:235 +msgid "" +"Changed the way agent configs are handled for environments and learning " +"agents. Switched from yaml to configclasses." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:240 +msgid "" +"Fixed the way package import automation is handled in the " +":mod:`omni.isaac.lab_tasks` module. Earlier it was not skipping the " +"blacklisted packages properly." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:245 +msgid "0.4.3 (2023-09-25)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:256 +msgid "0.4.2 (2023-08-29)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:261 +msgid "" +"Moved the base environment definition to the " +":class:`omni.isaac.lab.envs.RLEnv` class. The :class:`RLEnv` contains RL-" +"specific managers such as the reward, termination, randomization and " +"curriculum managers. These are all configured using the " +":class:`omni.isaac.lab.envs.RLEnvConfig` class. The :class:`RLEnv` class " +"inherits from the :class:`omni.isaac.lab.envs.ManagerBasedEnv` and " +"``gym.Env`` classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:269 +msgid "" +"Adapted the wrappers to use the new :class:`omni.isaac.lab.envs.RLEnv` " +"class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:273 +msgid "0.4.1 (2023-08-02)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:278 +msgid "" +"Adapted the base :class:`IsaacEnv` class to use the " +":class:`SimulationContext` class from the :mod:`omni.isaac.lab.sim` " +"module. This simplifies setting of simulation parameters." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:283 +msgid "0.4.0 (2023-07-26)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:288 +msgid "" +"Removed the resetting of environment indices in the step call of the " +":class:`IsaacEnv` class. This must be handled in the :math:`_step_impl`` " +"function by the inherited classes." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:290 +msgid "Adapted the wrapper for RSL-RL library its new API." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:295 +msgid "" +"Added handling of no checkpoint available error in the " +":meth:`get_checkpoint_path`." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:296 +msgid "Fixed the locomotion environment for rough terrain locomotion training." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:300 +msgid "0.3.2 (2023-07-22)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:305 +msgid "" +"Added a UI to the :class:`IsaacEnv` class to enable/disable rendering of " +"the viewport when not running in headless mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:311 +msgid "" +"Fixed the the issue with environment returning transition tuples even " +"when the simulation is paused." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:312 +msgid "Fixed the shutdown of the simulation when the environment is closed." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:316 +msgid "0.3.1 (2023-06-23)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:321 +msgid "" +"Changed the argument ``headless`` in :class:`IsaacEnv` class to " +"``render``, in order to cause less confusion about rendering and " +"headless-ness, i.e. that you can render while headless." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:326 +msgid "0.3.0 (2023-04-14)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:331 +msgid "" +"Added a new flag ``viewport`` to the :class:`IsaacEnv` class to " +"enable/disable rendering of the viewport. If the flag is set to ``True``," +" the viewport is enabled and the environment is rendered in the " +"background." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:333 +msgid "" +"Updated the training scripts in the ``source/standalone/workflows`` " +"directory to use the new flag ``viewport``. If the CLI argument " +"``--video`` is passed, videos are recorded in the ``videos`` directory " +"using the :class:`gym.wrappers.RecordVideo` wrapper." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:340 +msgid "" +"The :class:`IsaacEnv` class supports different rendering mode as " +"referenced in OpenAI Gym's ``render`` method. These modes are:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:343 +msgid "" +"``rgb_array``: Renders the environment in the background and returns the " +"rendered image as a numpy array." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:344 +msgid "" +"``human``: Renders the environment in the background and displays the " +"rendered image in a window." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:346 +msgid "" +"Changed the constructor in the classes inheriting from :class:`IsaacEnv` " +"to pass all the keyword arguments to the constructor of :class:`IsaacEnv`" +" class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:352 +msgid "" +"Clarified the documentation of ``headless`` flag in the :class:`IsaacEnv`" +" class. It refers to whether or not to render at every sim step, not " +"whether to render the viewport or not." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:354 +msgid "Fixed the unit tests for running random agent on included environments." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:357 +msgid "0.2.3 (2023-03-06)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:362 +msgid "" +"Tuned the observations and rewards for ``Isaac-Lift-Franka-v0`` " +"environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:365 +msgid "0.2.2 (2023-03-04)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:370 +msgid "" +"Fixed the issue with rigid object not working in the ``Isaac-Lift-" +"Franka-v0`` environment." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:373 +msgid "0.2.1 (2023-03-01)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:378 +msgid "" +"Added a flag ``disable_contact_processing`` to the :class:`SimCfg` class " +"to handle contact processing effectively when using TensorAPIs for " +"contact reporting." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:380 +msgid "" +"Added verbosity flag to :meth:`export_policy_as_onnx` to print model " +"summary." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:385 +msgid "Clarified the documentation of flags in the :class:`SimCfg` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:386 +msgid "" +"Added enabling of ``omni.kit.viewport`` and ``omni.replicator.isaac`` " +"extensions dynamically to maintain order in the startup of extensions." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:388 +msgid "" +"Corrected the experiment names in the configuration files for training " +"environments with ``rsl_rl``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:393 +msgid "" +"Changed the default value of ``enable_scene_query_support`` in " +":class:`SimCfg` class to False. The flag is overridden to True inside " +":class:`IsaacEnv` class when running the simulation in non-headless mode." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:403 +msgid "Added environment wrapper and sequential trainer for the skrl RL library" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:404 +msgid "Added training/evaluation configuration files for the skrl RL library" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:407 +msgid "0.1.2 (2023-01-19)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:412 +msgid "Added the flag ``replicate_physics`` to the :class:`SimCfg` class." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:413 +msgid "" +"Increased the default value of ``gpu_found_lost_pairs_capacity`` in " +":class:`PhysxCfg` class" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:416 +msgid "0.1.1 (2023-01-18)" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:421 +msgid "" +"Fixed a bug in ``Isaac-Velocity-Anymal-C-v0`` where the domain " +"randomization is not applicable if cloning the environments with " +"``replicate_physics=True``." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:430 +msgid "Initial release of the extension." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:431 +msgid "Includes the following environments:" +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:433 +msgid "" +"``Isaac-Cartpole-v0``: A cartpole environment with a continuous action " +"space." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:434 +msgid "``Isaac-Ant-v0``: A 3D ant environment with a continuous action space." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:435 +msgid "" +"``Isaac-Humanoid-v0``: A 3D humanoid environment with a continuous action" +" space." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:436 +msgid "" +"``Isaac-Reach-Franka-v0``: A end-effector pose tracking task for the " +"Franka arm." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:437 +msgid "" +"``Isaac-Lift-Franka-v0``: A 3D object lift and reposing task for the " +"Franka arm." +msgstr "" + +#: ../../../source/extensions/omni.isaac.lab_tasks/docs/CHANGELOG.rst:438 +msgid "" +"``Isaac-Velocity-Anymal-C-v0``: An SE(2) velocity tracking task for " +"legged robot on flat terrain." +msgstr "" + diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/refs/contributing.po b/docs/locale/zh_CN/LC_MESSAGES/source/refs/contributing.po new file mode 100644 index 0000000000..94900a3dbc --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/refs/contributing.po @@ -0,0 +1,528 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/refs/contributing.rst:2 +msgid "Contribution Guidelines" +msgstr "建议" + +#: ../../source/refs/contributing.rst:4 +msgid "" +"We wholeheartedly welcome contributions to the project to make the framework" +" more mature and useful for everyone. These may happen in forms of:" +msgstr "我们衷心欢迎对项目的贡献，以使框架更加成熟和对所有人更加有用。这些贡献可以以以下形式发生：" + +#: ../../source/refs/contributing.rst:7 +msgid "" +"Bug reports: Please report any bugs you find in the `issue tracker " +"`__." +msgstr "" +"错误报告：请在`问题跟踪器`__中报告您发现的任何错误。" + +#: ../../source/refs/contributing.rst:8 +msgid "" +"Feature requests: Please suggest new features you would like to see in the " +"`discussions `__." +msgstr "" +"功能请求：请在`讨论区 `__中提出您想要看到的新功能。" + +#: ../../source/refs/contributing.rst:9 +msgid "" +"Code contributions: Please submit a `pull request `__." +msgstr "代码贡献：请提交`拉取请求 `__ 。" + +#: ../../source/refs/contributing.rst:11 +msgid "Bug fixes" +msgstr "故障修复" + +#: ../../source/refs/contributing.rst:12 +msgid "New features" +msgstr "新功能" + +#: ../../source/refs/contributing.rst:13 +msgid "Documentation improvements" +msgstr "文档改进" + +#: ../../source/refs/contributing.rst:14 +msgid "Tutorials and tutorial improvements" +msgstr "教程和教程改进" + +#: ../../source/refs/contributing.rst:19 +msgid "" +"We prefer GitHub `discussions `_ for discussing ideas, asking questions, " +"conversations and requests for new features." +msgstr "" +"我们更喜欢使用 GitHub`讨论区 `_ " +"来讨论想法、提出问题、谈话和请求新功能。" + +#: ../../source/refs/contributing.rst:22 +msgid "" +"Please use the `issue tracker `_ only to track executable pieces of work with a " +"definite scope and a clear deliverable. These can be fixing bugs, new " +"features, or general updates." +msgstr "" +"请只使用`问题跟踪器 `_ " +"跟踪具有明确范围和清晰可交付成果的可执行工作。这些工作可以是修复错误、新功能或一般更新。" + +#: ../../source/refs/contributing.rst:28 +msgid "Contributing Code" +msgstr "贡献代码" + +#: ../../source/refs/contributing.rst:30 +msgid "" +"We use `GitHub `__ for code hosting. " +"Please follow the following steps to contribute code:" +msgstr "" +"我们使用`GitHub `__ 进行代码托管。请按照以下步骤贡献代码：" + +#: ../../source/refs/contributing.rst:33 +msgid "" +"Create an issue in the `issue tracker `__ to discuss the changes or additions you would like " +"to make. This helps us to avoid duplicate work and to make sure that the " +"changes are aligned with the roadmap of the project." +msgstr "" +"在`问题跟踪器 `__中创建一个问题，讨论您想要进行的更改或添加。这有助于我们避免重复工作，并确保更改与项目的路线图一致。" + +#: ../../source/refs/contributing.rst:36 +msgid "Fork the repository." +msgstr "创建一个分支。" + +#: ../../source/refs/contributing.rst:37 +msgid "Create a new branch for your changes." +msgstr "为您的更改创建一个新分支。" + +#: ../../source/refs/contributing.rst:38 +msgid "Make your changes and commit them." +msgstr "进行更改并提交它们。" + +#: ../../source/refs/contributing.rst:39 +msgid "Push your changes to your fork." +msgstr "将更改推送到您的分支。" + +#: ../../source/refs/contributing.rst:40 +msgid "" +"Submit a pull request to the `main branch `__." +msgstr "提交到`主分支 `__。" + +#: ../../source/refs/contributing.rst:41 +msgid "Ensure all the checks on the pull request template are performed." +msgstr "确保执行拉取请求模板上的所有检查。" + +#: ../../source/refs/contributing.rst:43 +msgid "" +"After sending a pull request, the maintainers will review your code and " +"provide feedback." +msgstr "发送拉取请求后，维护人员将审查您的代码并提供反馈。" + +#: ../../source/refs/contributing.rst:45 +msgid "" +"Please ensure that your code is well-formatted, documented and passes all " +"the tests." +msgstr "请确保您的代码格式良好，有文档，并通过所有测试。" + +#: ../../source/refs/contributing.rst:49 +msgid "" +"It is important to keep the pull request as small as possible. This makes it" +" easier for the maintainers to review your code. If you are making multiple " +"changes, please send multiple pull requests. Large pull requests are " +"difficult to review and may take a long time to merge." +msgstr "" +"保持拉取请求尽可能小是很重要的。这样可以更容易地审查您的代码。如果您进行了多个更改，请发送多个拉取请求。大型拉取请求很难审查，可能需要很长时间才能合并。" + +#: ../../source/refs/contributing.rst:55 +msgid "Coding Style" +msgstr "编码风格" + +#: ../../source/refs/contributing.rst:57 +msgid "" +"We follow the `Google Style Guides " +"`__ for the codebase. For " +"Python code, the PEP guidelines are followed. Most important ones are `PEP-8" +" `__ for code comments and " +"layout, `PEP-484 `__ and `PEP-585 " +"`__ for type-hinting." +msgstr "" +"我们遵循`Google样式指南 " +"`__。对于Python代码，遵循PEP指南。最重要的是`PEP-8" +" `__ 用于代码注释和布局，`PEP-484 " +"`__ 和`PEP-585 " +"`__ 用于类型提示。" + +#: ../../source/refs/contributing.rst:66 +msgid "" +"For documentation, we adopt the `Google Style Guide `__ for docstrings. We" +" use `Sphinx `__ for generating the " +"documentation. Please make sure that your code is well-documented and " +"follows the guidelines." +msgstr "" +"对于文档，我们采用`Google样式指南 `__ " +"进行文档字符串编写。我们使用`Sphinx `__ " +"生成文档。请确保您的代码有很好的文档并且符合指南。" + +#: ../../source/refs/contributing.rst:71 +msgid "Circular Imports" +msgstr "循环导入" + +#: ../../source/refs/contributing.rst:73 +msgid "" +"Circular imports happen when two modules import each other, which is a " +"common issue in Python. You can prevent circular imports by adhering to the " +"best practices outlined in this `StackOverflow post " +"`__." +msgstr "" +"循环导入是两个模块相互导入的情况，这是Python中的常见问题。您可以通过遵循`StackOverflow帖子中 " +"`__ 中概述的最佳实践来防止循环导入。" + +#: ../../source/refs/contributing.rst:77 +msgid "" +"In general, it is essential to avoid circular imports as they can lead to " +"unpredictable behavior." +msgstr "总的来说，尽量避免循环导入是至关重要的，因为它们可能导致不可预测的行为。" + +#: ../../source/refs/contributing.rst:79 +msgid "" +"However, in our codebase, we encounter circular imports at a sub-package " +"level. This situation arises due to our specific code structure. We organize" +" classes or functions and their corresponding configuration objects into " +"separate files. This separation enhances code readability and " +"maintainability. Nevertheless, it can result in circular imports because, in" +" many configuration objects, we specify classes or functions as default " +"values using the attributes ``class_type`` and ``func`` respectively." +msgstr "" +"但是，在我们的代码库中，我们在子包级别遇到了循环导入。这种情况是由于我们特定的代码结构引起的。我们将类或函数及其相应的配置对象组织到单独的文件中。这种分离增强了代码的可读性和可维护性。然而，它可能导致循环导入，因为在许多配置对象中，我们使用属性“class_type”和“func”来指定类或函数作为默认值。" + +#: ../../source/refs/contributing.rst:85 +msgid "" +"To address circular imports, we leverage the `typing.TYPE_CHECKING " +"`_ " +"variable. This special variable is evaluated only during type-checking, " +"allowing us to import classes or functions in the configuration objects " +"without triggering circular imports." +msgstr "" +"为了解决循环导入问题，我们利用`typing.TYPE_CHECKING " +"`_ " +"变量。这个特殊的变量只在类型检查期间被评估，允许我们在配置对象中导入类或函数，而不触发循环导入。" + +#: ../../source/refs/contributing.rst:90 +msgid "" +"It is important to note that this is the sole instance within our codebase " +"where circular imports are used and are acceptable. In all other scenarios, " +"we adhere to best practices and recommend that you do the same." +msgstr "重要的是要注意，这是我们代码库中唯一允许使用和接受循环导入的实例。在所有其他情况下，我们遵循最佳实践，并建议您也这样做。" + +#: ../../source/refs/contributing.rst:94 +msgid "Type-hinting" +msgstr "类型提示" + +#: ../../source/refs/contributing.rst:96 +msgid "" +"To make the code more readable, we use `type hints " +"`__ for all the functions and" +" classes. This helps in understanding the code and makes it easier to " +"maintain. Following this practice also helps in catching bugs early with " +"static type checkers like `mypy `__." +msgstr "" +"为了使代码更易读，我们对所有的函数和类都使用`类型提示 " +"`__。这有助于理解代码，并使代码更易于维护。遵循这一实践也有助于使用静态类型检查器如`mypy" +" `__ 尽早发现错误。" + +#: ../../source/refs/contributing.rst:100 +msgid "" +"To avoid duplication of efforts, we do not specify type hints for the " +"arguments and return values in the docstrings. However, if your function or " +"class is not self-explanatory, please add a docstring with the type hints." +msgstr "为了避免工作重复，在文档字符串中不指定参数和返回值的类型提示。但是，如果您的函数或类不够自解释，请添加带有类型提示的文档字符串。" + +#: ../../source/refs/contributing.rst:104 +msgid "Tools" +msgstr "工具" + +#: ../../source/refs/contributing.rst:106 +msgid "We use the following tools for maintaining code quality:" +msgstr "我们使用以下工具来维护代码质量：" + +#: ../../source/refs/contributing.rst:108 +msgid "" +"`pre-commit `__: Runs a list of formatters and " +"linters over the codebase." +msgstr "`pre-commit `__：在代码库上运行一系列格式化程序和检查器。" + +#: ../../source/refs/contributing.rst:109 +msgid "" +"`black `__: The uncompromising code" +" formatter." +msgstr "`black `__：不妥协的代码格式化程序。" + +#: ../../source/refs/contributing.rst:110 +msgid "" +"`flake8 `__: A wrapper around PyFlakes," +" pycodestyle and McCabe complexity checker." +msgstr "" +"`flake8 " +"`__：PyFlakes、pycodestyle和McCabe复杂性检查器的包装器。" + +#: ../../source/refs/contributing.rst:113 +msgid "" +"Please check `here `__ for instructions to " +"set these up. To run over the entire repository, please execute the " +"following command in the terminal:" +msgstr "" +"请在`此处 `__ " +"检查设置这些工具的指南。要在整个存储库上运行，请在终端中执行以下命令：" + +#: ../../source/refs/contributing.rst:122 +msgid "Contributing Documentation" +msgstr "贡献文档" + +#: ../../source/refs/contributing.rst:124 +msgid "" +"Contributing to the documentation is as easy as contributing to the " +"codebase. All the source files for the documentation are located in the " +"``IsaacLab/docs`` directory. The documentation is written in " +"`reStructuredText `__ format." +msgstr "" +"贡献文档与贡献代码库一样容易。所有文档的源文件都在``IsaacLab/docs``目录中。文档以`reStructuredText " +"`__ 格式编写。" + +#: ../../source/refs/contributing.rst:128 +msgid "" +"We use `Sphinx `__ with the `Book " +"Theme `__ for " +"maintaining the documentation." +msgstr "" +"我们使用`Sphinx `__ 以`Book Theme " +"`__ 来维护文档。" + +#: ../../source/refs/contributing.rst:132 +msgid "" +"Sending a pull request for the documentation is the same as sending a pull " +"request for the codebase. Please follow the steps mentioned in the " +"`Contributing Code`_ section." +msgstr "发送文档的拉取请求与发送代码库的拉取请求相同。请遵循`贡献代码`_ 部分中提到的步骤。" + +#: ../../source/refs/contributing.rst:137 +msgid "" +"To build the documentation, we recommend creating a `virtual environment " +"`__ to install the " +"dependencies. This can also be a `conda environment " +"`__." +msgstr "" +"为了构建文档，我们建议创建一个`虚拟环境 `__ " +"以安装这些依赖。这也可以是一个`conda环境 " +"`__ 。" + +#: ../../source/refs/contributing.rst:141 +msgid "" +"To build the documentation, run the following command in the terminal which " +"installs the required python packages and builds the documentation using the" +" ``docs/Makefile``:" +msgstr "要构建文档，请在终端中运行以下命令，该命令会安装所需的Python包并使用``docs/Makefile``构建文档：" + +#: ../../source/refs/contributing.rst:148 +msgid "" +"The documentation is generated in the ``docs/_build`` directory. To view the" +" documentation, open the ``index.html`` file in the ``html`` directory. This" +" can be done by running the following command in the terminal:" +msgstr "" +"文档生成在``docs/_build``目录中。要查看文档，请在``html``目录中打开``index.html``文件。可以通过在终端中运行以下命令来完成：" + +#: ../../source/refs/contributing.rst:158 +msgid "" +"The ``xdg-open`` command is used to open the ``index.html`` file in the " +"default browser. If you are using a different operating system, you can use " +"the appropriate command to open the file in the browser." +msgstr "" +"``xdg-open``命令用于在默认浏览器中打开``index.html``文件。如果您使用不同的操作系统，可以使用适当的命令在浏览器中打开文件。" + +#: ../../source/refs/contributing.rst:162 +msgid "To do a clean build, run the following command in the terminal:" +msgstr "要进行干净的构建，请在终端中运行以下命令：" + +#: ../../source/refs/contributing.rst:170 +msgid "Contributing assets" +msgstr "资产捐赠" + +#: ../../source/refs/contributing.rst:172 +msgid "" +"Currently, we host the assets for the extensions on `NVIDIA Nucleus Server " +"`__. Nucleus is" +" a cloud-based storage service that allows users to store and share large " +"files. It is integrated with the `NVIDIA Omniverse Platform " +"`__." +msgstr "" +"目前，我们将扩展的资产托管在`NVIDIA Nucleus Server " +"`__上。Nucleus是一项基于云的存储服务，允许用户存储和共享大型文件。它与`英伟达Omniverse平台" +" `__集成。" + +#: ../../source/refs/contributing.rst:176 +msgid "" +"Since all assets are hosted on Nucleus, we do not need to include them in " +"the repository. However, we need to include the links to the assets in the " +"documentation." +msgstr "由于所有资产都托管在Nucleus上，我们无需将它们包含在存储库中。但是，我们需要在文档中包含资产的链接。" + +#: ../../source/refs/contributing.rst:179 +msgid "" +"The included assets are part of the `Isaac Sim Content " +"`__." +" To use this content, you need to download the files to a Nucleus server or " +"create an **Isaac** Mount on a Nucleus server." +msgstr "" +"包含的资产是`Isaac Sim Content " +"`__的一部分。要使用此内容，您需要将文件下载到Nucleus服务器或在Nucleus服务器上创建**Isaac**" +" Mount。" + +#: ../../source/refs/contributing.rst:183 +msgid "" +"Please check the `Isaac Sim documentation " +"`__ for more information on how to download the assets." +msgstr "" +"请查看`Isaac Sim文档 " +"`__，以了解有关如何下载资产的更多信息。" + +#: ../../source/refs/contributing.rst:188 +msgid "" +"We are currently working on a better way to contribute assets. We will " +"update this section once we have a solution. In the meantime, please follow " +"the steps mentioned below." +msgstr "我们目前正在努力寻找更好的方式来捐赠资产。一旦我们有解决方案，我们将更新本节。与此同时，请按照以下步骤进行操作。" + +#: ../../source/refs/contributing.rst:191 +msgid "To host your own assets, the current solution is:" +msgstr "托管您自己的资产，当前的解决方案是：" + +#: ../../source/refs/contributing.rst:193 +msgid "Create a separate repository for the assets and add it over there" +msgstr "为资产创建一个单独的存储库，并将其添加到那里" + +#: ../../source/refs/contributing.rst:194 +msgid "Make sure the assets are licensed for use and distribution" +msgstr "确保资产已获得许可用于使用和分发" + +#: ../../source/refs/contributing.rst:195 +msgid "Include images of the assets in the README file of the repository" +msgstr "在存储库的README文件中包含资产的图像" + +#: ../../source/refs/contributing.rst:196 +msgid "Send a pull request with a link to the repository" +msgstr "发送带有存储库链接的拉取请求" + +#: ../../source/refs/contributing.rst:198 +msgid "" +"We will then verify the assets, its licensing, and include the assets into " +"the Nucleus server for hosting. In case you have any questions, please feel " +"free to reach out to us through e-mail or by opening an issue in the " +"repository." +msgstr "" +"然后，我们将对资产、其许可以及将资产包含到Nucleus服务器中进行验证托管。如果您有任何问题，请随时通过电子邮件联系我们，或在存储库中提出问题。" + +#: ../../source/refs/contributing.rst:204 +msgid "Maintaining a changelog" +msgstr "保持日志更新" + +#: ../../source/refs/contributing.rst:206 +msgid "" +"Each extension maintains a changelog in the ``CHANGELOG.rst`` file in the " +"``docs`` directory. The file is written in `reStructuredText " +"`__ format. It contains a curated," +" chronologically ordered list of notable changes for each version of the " +"extension." +msgstr "" +"每个扩展在``docs``目录下的``CHANGELOG.rst``文件中维护一个日志。该文件采用`reStructuredText " +"`__格式编写。它包含每个扩展版本的经过策划的、按时间顺序排序的显着变更列表。" + +#: ../../source/refs/contributing.rst:210 +msgid "" +"The goal of this changelog is to help users and contributors see precisely " +"what notable changes have been made between each release (or version) of the" +" extension. This is a *MUST* for every extension." +msgstr "此日志的目标是帮助用户和贡献者精确地查看每个扩展版本（或版本）之间发生了哪些显着变化。这对每个扩展来说是*必需的*。" + +#: ../../source/refs/contributing.rst:213 +msgid "For updating the changelog, please follow the following guidelines:" +msgstr "为了更新日志，请遵循以下准则：" + +#: ../../source/refs/contributing.rst:215 +msgid "" +"Each version should have a section with the version number and the release " +"date." +msgstr "每个版本应有一个包含版本号和发布日期的部分。" + +#: ../../source/refs/contributing.rst:216 +msgid "" +"The version number is updated according to `Semantic Versioning " +"`__. The release date is the date on which the version " +"is released." +msgstr "根据`语义化版本号 `__更新版本号。发布日期是该版本发布的日期。" + +#: ../../source/refs/contributing.rst:218 +msgid "" +"Each version is divided into subsections based on the type of changes made." +msgstr "每个版本根据所做更改的类型分为小节。" + +#: ../../source/refs/contributing.rst:220 +msgid "``Added``: For new features." +msgstr "``添加``：用于新增功能。" + +#: ../../source/refs/contributing.rst:221 +msgid "``Changed``: For changes in existing functionality." +msgstr "``更改``：用于对现有功能进行更改。" + +#: ../../source/refs/contributing.rst:222 +msgid "``Deprecated``: For soon-to-be removed features." +msgstr "``弃用``：即将被移除的功能。" + +#: ../../source/refs/contributing.rst:223 +msgid "``Removed``: For now removed features." +msgstr "``移除``：目前被移除的功能。" + +#: ../../source/refs/contributing.rst:224 +msgid "``Fixed``: For any bug fixes." +msgstr "``修复``：任何故障修复。" + +#: ../../source/refs/contributing.rst:226 +msgid "" +"Each change is described in its corresponding sub-section with a bullet " +"point." +msgstr "每个更改在相应的子部分中以项目符号描述。" + +#: ../../source/refs/contributing.rst:227 +msgid "" +"The bullet points are written in the past tense and in imperative mode." +msgstr "项目符号以过去时和祈使句模式书写。" + +#: ../../source/refs/contributing.rst:229 +msgid "For example, the following is a sample changelog:" +msgstr "例如，以下是样本日志：" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/refs/issues.po b/docs/locale/zh_CN/LC_MESSAGES/source/refs/issues.po new file mode 100644 index 0000000000..81b26720b2 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/refs/issues.po @@ -0,0 +1,197 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/refs/issues.rst:2 +msgid "Known Issues" +msgstr "已知问题" + +#: ../../source/refs/issues.rst:6 +msgid "" +"Please also refer to the `Omniverse Isaac Sim documentation`_ for known " +"issues and workarounds." +msgstr "请参阅`Omniverse Isaac Sim documentation`_ 以了解已知问题和解决方法。" + +#: ../../source/refs/issues.rst:9 +msgid "Stale values after resetting the environment" +msgstr "重置环境后出现陈旧值" + +#: ../../source/refs/issues.rst:11 +msgid "" +"When resetting the environment, some of the data fields of assets and " +"sensors are not updated. These include the poses of links in a kinematic " +"chain, the camera images, the contact sensor readings, and the lidar point " +"clouds. This is a known issue which has to do with the way the PhysX and " +"rendering engines work in Omniverse." +msgstr "" +"重置环境时，一些资产和传感器的数据字段未得到更新。这些包括运动链中链接的姿势、摄像机影像、接触传感器读数和激光雷达点云。这是一个已知问题，与Omniverse中PhysX和渲染引擎的工作方式有关。" + +#: ../../source/refs/issues.rst:16 +msgid "" +"Many physics engines do a simulation step as a two-level call: ``forward()``" +" and ``simulate()``, where the kinematic and dynamic states are updated, " +"respectively. Unfortunately, PhysX has only a single ``step()`` call where " +"the two operations are combined. Due to computations through GPU kernels, it" +" is not so straightforward for them to split these operations. Thus, at the " +"moment, it is not possible to set the root and/or joint states and do a " +"forward call to update the kinematic states of links. This affects both " +"initialization as well as episodic resets." +msgstr "" +"许多物理引擎进行模拟步骤作为一个双级调用：``forward()``和``simulate()``，分别更新运动和动态状态。不幸的是，PhysX只有一个``step()``调用，这两个操作被合并在一起。由于通过GPU内核进行计算，对于他们来说拆分这些操作并不那么直接。因此，目前无法设置根和/或关节状态，并进行前向调用以更新链接的运动状态。这既影响初始化，也影响片段重置。" + +#: ../../source/refs/issues.rst:23 +msgid "" +"Similarly for RTX rendering related sensors (such as cameras), the sensor " +"data is not updated immediately after setting the state of the sensor. The " +"rendering engine update is bundled with the simulator's ``step()`` call " +"which only gets called when the simulation is stepped forward. This means " +"that the sensor data is not updated immediately after a reset and it will " +"hold outdated values." +msgstr "" +"对于RTX渲染相关的传感器（如摄像头），在设置传感器状态后传感器数据并不会立即更新。渲染引擎的更新会打包到模拟器的``step()``调用中，只有在模拟向前进行的时候才会进行。这意味着传感器数据在重置后不会立即更新，并且会保留过时的值。" + +#: ../../source/refs/issues.rst:29 +msgid "" +"While the above is erroneous, there is currently no direct workaround for " +"it. From our experience in using IsaacGym, the reset values affect the agent" +" learning critically depending on how frequently the environment terminates." +" Eventually if the agent is learning successfully, this number drops and " +"does not affect the performance that critically." +msgstr "" +"虽然上述情况是错误的，目前并没有对它直接的解决方法。根据我们使用IsaacGym的经验，重置值会根据环境终止的频率对代理的学习产生重大影响。最终，如果代理成功时学习将会减少，并对性能没有产生重大影响。" + +#: ../../source/refs/issues.rst:34 +msgid "" +"We have made a feature request to the respective Omniverse teams to have " +"complete control over stepping different parts of the simulation app. " +"However, at this point, there is no set timeline for this feature request." +msgstr "我们已向各自的Omniverse团队提交了一个功能请求，希望能够完全控制模拟应用的不同部分。然而，目前还没有为该功能请求设定时间表。" + +#: ../../source/refs/issues.rst:40 +msgid "Non-determinism in physics simulation" +msgstr "物理模拟中的非确定性" + +#: ../../source/refs/issues.rst:42 +msgid "" +"Due to GPU work scheduling, there's a possibility that runtime changes to " +"simulation parameters may alter the order in which operations take place. " +"This occurs because environment updates can happen while the GPU is occupied" +" with other tasks. Due to the inherent nature of floating-point numeric " +"storage, any modification to the execution ordering can result in minor " +"changes in the least significant bits of output data. These changes may lead" +" to divergent execution over the course of simulating thousands of " +"environments and simulation frames." +msgstr "" +"由于GPU工作安排，运行时对模拟参数的更改可能会改变操作顺序。这是因为在GPU忙于其他任务时可能会发生环境更新。由于浮点数的固有特性，执行顺序的任何修改都可能导致输出数据的最低有效位上发生微小的变化。这些变化可能导致在模拟成千上万个环境和模拟帧的过程中发生分歧。" + +#: ../../source/refs/issues.rst:49 +msgid "" +"An illustrative example of this issue is observed with the runtime domain " +"randomization of object's physics materials. This process can introduce both" +" determinancy and simulation issues when executed on the GPU due to the way " +"these parameters are passed from the CPU to the GPU in the lower-level APIs." +" Consequently, it is strongly advised to perform this operation only at " +"setup time, before the environment stepping commences." +msgstr "" +"这个问题的一个说明性例子是观察对象物理材料的运行时域随机化。当在GPU上执行时，这个过程可能会在CPU和GPU之间传递这些参数的方式导致确定性和模拟问题。因此，强烈建议只在设置时间时执行此操作，而不是在环境步进开始时执行。" + +#: ../../source/refs/issues.rst:55 +msgid "" +"For more information, please refer to the `PhysX Determinism " +"documentation`_." +msgstr "有关更多信息，请参阅`PhysX Determinism documentation`_。" + +#: ../../source/refs/issues.rst:57 +msgid "" +"In addition, due to floating point precision, states across different " +"environments in the simulation may be non-deterministic when the same set of" +" actions are applied to the same initial states. This occurs as environments" +" are placed further apart from the world origin at (0, 0, 0). As actors get " +"placed at different origins in the world, floating point errors may build up" +" and result in slight variance in results even when starting from the same " +"initial states. One possible workaround for this issue is to place all " +"actors/environments at the world origin at (0, 0, 0) and filter out " +"collisions between the environments. Note that this may induce a performance" +" degradation of around 15-50%, depending on the complexity of actors and " +"environment." +msgstr "" +"此外，由于浮点精度，模拟中不同环境中的状态可能是非确定性的，当相同的动作应用到相同的初始状态时。当环境被放置在世界原点之外的地方时，就会发生这种情况。由于角色被放置在世界中不同的原点上，浮点误差可能会积累，并在从相同的初始状态出发时导致结果略有差异。对于这个问题的一个可能的解决方法是将所有角色/环境放置在世界原点（0，0，0），并过滤掉环境之间的碰撞。请注意，这可能会导致性能下降约15-50%，具体取决于角色和环境的复杂性。" + +#: ../../source/refs/issues.rst:69 +msgid "Blank initial frames from the camera" +msgstr "相机初始帧为空白" + +#: ../../source/refs/issues.rst:71 +msgid "" +"When using the :class:`omni.isaac.lab.sensors.Camera` sensor in standalone " +"scripts, the first few frames may be blank. This is a known issue with the " +"simulator where it needs a few steps to load the material textures properly " +"and fill up the render targets." +msgstr "在使用独立脚本时，许多初始相机帧可能为空白。这是一个模拟器中的已知问题，在几个步骤之后才能正确加载材质纹理并填充渲染目标。" + +#: ../../source/refs/issues.rst:75 +msgid "" +"A hack to work around this is to add the following after initializing the " +"camera sensor and setting its pose:" +msgstr "解决这个问题的一个方法是在初始化相机传感器并设置其姿势后添加以下内容：" + +#: ../../source/refs/issues.rst:90 +msgid "Using instanceable assets for markers" +msgstr "使用可示例化的资产作为标记" + +#: ../../source/refs/issues.rst:92 +msgid "" +"When using `instanceable assets`_ for markers, the markers do not work " +"properly, since Omniverse does not support instanceable assets when using " +"the :class:`UsdGeom.PointInstancer` schema. This is a known issue and will " +"hopefully be fixed in a future release." +msgstr "" +"在使用`可示例化资产`_作为标记时，由于Omniverse不支持在使用:class:`UsdGeom.PointInstancer`模式时使用可示例化的资产，因此标记无法正常工作。这是一个已知问题，希望在将来的版本中修复。" + +#: ../../source/refs/issues.rst:96 +msgid "" +"If you use an instanceable assets for markers, the marker class removes all " +"the physics properties of the asset. This is then replicated across other " +"references of the same asset since physics properties of instanceable assets" +" are stored in the instanceable asset's USD file and not in its stage " +"reference's USD file." +msgstr "" +"如果您使用可示例化资产作为标记，标记类将删除资产的所有物理属性。然后，由于可示例化资产的物理属性存储在可示例化资产的USD文件中，而不是存储在其阶段引用的USD文件中，这一问题会在同一资产的其他引用中复制。" + +#: ../../source/refs/issues.rst:106 +msgid "Exiting the process" +msgstr "退出进程" + +#: ../../source/refs/issues.rst:108 +msgid "" +"When exiting a process with ``Ctrl+C``, occasionally the below error may " +"appear:" +msgstr "当使用``Ctrl+C``退出进程时，偶尔会出现以下错误：" + +#: ../../source/refs/issues.rst:114 +msgid "" +"This is due to the termination occurring in the middle of a physics event " +"call and should not affect the functionality of Isaac Lab. It is safe to " +"ignore the error message and continue with terminating the process. On " +"Windows systems, please use ``Ctrl+Break`` or ``Ctrl+fn+B`` to terminate the" +" process." +msgstr "" +"这是由于在物理事件调用中间发生终止，应该不会影响Isaac " +"Lab的功能。可以忽略错误消息，并继续终止进程。在Windows系统上，请使用``Ctrl+Break``或``Ctrl+fn+B``来终止进程。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/refs/license.po b/docs/locale/zh_CN/LC_MESSAGES/source/refs/license.po new file mode 100644 index 0000000000..de0838d5bd --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/refs/license.po @@ -0,0 +1,49 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/refs/license.rst:4 +msgid "License" +msgstr "许可" + +#: ../../source/refs/license.rst:6 +msgid "" +"NVIDIA Isaac Sim is available freely under `individual license " +"`_. For more information " +"about its license terms, please check `here " +"`_. The license files for all its dependencies and " +"included assets are available in its `documentation " +"`_." +msgstr "" +"NVIDIA Isaac Sim根据`个人许可证 `_ 免费提供。有关许可条款的更多信息，请查看`此处 " +"`_。其所有依赖项和包含资源的许可文件可在其`文档中 " +"`_ " +"中找到。" + +#: ../../source/refs/license.rst:13 +msgid "" +"The Isaac Lab framework is open-sourced under the `BSD-3-Clause license " +"`_." +msgstr "" +"Isaac Lab框架在`BSD-3-Clause许可证 " +"`_ 下开源。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/refs/migration.po b/docs/locale/zh_CN/LC_MESSAGES/source/refs/migration.po new file mode 100644 index 0000000000..70a94bd706 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/refs/migration.po @@ -0,0 +1,151 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/refs/migration.rst:2 +msgid "Migration Guide (Isaac Sim)" +msgstr "迁移指南（Isaac Sim）" + +#: ../../source/refs/migration.rst:4 +msgid "" +"Moving from Isaac Sim 2022.2.1 to 2023.1.0 and later brings in a number of " +"changes to the APIs and the way the application is built. This document " +"outlines the changes and how to migrate your code to the new APIs. Many of " +"these changes attribute to the underlying Omniverse Kit upgrade from 104.2 " +"to 105.1. The new upgrade brings the following notable changes:" +msgstr "" +"从Isaac Sim " +"2022.2.1迁移到2023.1.0及更高版本会带来一些API和应用程序构建方式的变化。本文档概述了这些变化以及如何将您的代码迁移到新的API。这些变化中的许多是由于底层Omniverse" +" Kit从104.2升级到105.1。新的升级带来了以下显着变化：" + +#: ../../source/refs/migration.rst:10 +msgid "Update to USD 22.11" +msgstr "更新到USD 22.11" + +#: ../../source/refs/migration.rst:11 +msgid "Upgrading the Python from 3.7 to 3.10" +msgstr "将Python升级从3.7到3.10" + +#: ../../source/refs/migration.rst:15 +msgid "Renaming of PhysX Flatcache to PhysX Fabric" +msgstr "将PhysX Flatcache更名为PhysX Fabric" + +#: ../../source/refs/migration.rst:17 +msgid "" +"The PhysX Flatcache has been renamed to PhysX Fabric. The new name is more " +"descriptive of the functionality and is consistent with the naming " +"convention used by Omniverse called `Fabric`_. Consequently, the Python " +"module name has also been changed from :mod:`omni.physxflatcache` to " +":mod:`omni.physxfabric`." +msgstr "" +"PhysX Flatcache已更名为PhysX " +"Fabric。新名称更具描述性，并与Omniverse所使用的`Fabric`_命名约定一致。因此，Python模块名称也已从 " +":mod:`omni.physxflatcache` 更改为 :mod:`omni.physxfabric`。" + +#: ../../source/refs/migration.rst:22 +msgid "Following this, on the Isaac Sim side, various renaming have occurred:" +msgstr "随之而来，在Isaac Sim的一侧，发生了各种命名更改：" + +#: ../../source/refs/migration.rst:24 +msgid "" +"The parameter passed to :class:`SimulationContext` constructor via the " +"keyword :obj:`sim_params` now expects the key ``use_fabric`` instead of " +"``use_flatcache``." +msgstr "" +"传递给 :class:`SimulationContext` 构造函数的参数通过关键字 :obj:`sim_params` 现在期望键 " +"``use_fabric`` 而不再是 ``use_flatcache``。" + +#: ../../source/refs/migration.rst:26 +msgid "" +"The Python attribute " +":attr:`SimulationContext.get_physics_context().use_flatcache` is now " +":attr:`SimulationContext.get_physics_context().use_fabric`." +msgstr "" +"Python属性 :attr:`SimulationContext.get_physics_context().use_flatcache` 现在是 " +":attr:`SimulationContext.get_physics_context().use_fabric`。" + +#: ../../source/refs/migration.rst:28 +msgid "" +"The Python function " +":meth:`SimulationContext.get_physics_context().enable_flatcache` is now " +":meth:`SimulationContext.get_physics_context().enable_fabric`." +msgstr "" +"Python函数 :meth:`SimulationContext.get_physics_context().enable_flatcache` " +"现在是 :meth:`SimulationContext.get_physics_context().enable_fabric`。" + +#: ../../source/refs/migration.rst:33 +msgid "Renaming of the URDF and MJCF Importers" +msgstr "URDF和MJCF导入器的更名" + +#: ../../source/refs/migration.rst:35 +msgid "" +"Starting from Isaac Sim 2023.1, the URDF and MJCF importers have been " +"renamed to be more consistent with the other asset importers in Omniverse. " +"The importers are now available on NVIDIA-Omniverse GitHub as open source " +"projects." +msgstr "" +"从Isaac Sim " +"2023.1开始，URDF和MJCF导入器已更名以更符合Omniverse中其他资产导入器的命名一致性。这些导入器现在作为NVIDIA-" +"Omniverse GitHub上的开源项目提供。" + +#: ../../source/refs/migration.rst:39 +msgid "" +"Due to the extension name change, the Python module names have also been " +"changed:" +msgstr "由于扩展名更改，Python模块名称也已更改：" + +#: ../../source/refs/migration.rst:41 +msgid "" +"URDF Importer: :mod:`omni.importer.urdf` (previously :mod:`omni.isaac.urdf`)" +msgstr "URDF导入器： :mod:`omni.importer.urdf` (先前为 :mod:`omni.isaac.urdf`)" + +#: ../../source/refs/migration.rst:42 +msgid "" +"MJCF Importer: :mod:`omni.importer.mjcf` (previously :mod:`omni.isaac.mjcf`)" +msgstr "MJCF导入器： :mod:`omni.importer.mjcf`（先前为 :mod:`omni.isaac.mjcf`）" + +#: ../../source/refs/migration.rst:46 +msgid "Deprecation of :class:`UsdLux.Light` API" +msgstr "对 :class:`UsdLux.Light` API 的弃用" + +#: ../../source/refs/migration.rst:48 +msgid "" +"As highlighted in the release notes of `USD 22.11`_, the ``UsdLux.Light`` " +"API has been deprecated in favor of the new ``UsdLuxLightAPI`` API. In the " +"new API the attributes are prefixed with ``inputs:``. For example, the " +"``intensity`` attribute is now available as ``inputs:intensity``." +msgstr "" +"正如在 `USD 22.11`_ 的发行说明中所强调的那样，``UsdLux.Light`` API已被弃用，取而代之的是新的 " +"``UsdLuxLightAPI`` API。在新API中，属性以``inputs:``为前缀。例如，``intensity``属性现在可用作 " +"``inputs:intensity``。" + +#: ../../source/refs/migration.rst:53 +msgid "" +"The following example shows how to create a sphere light using the old API " +"and the new API." +msgstr "以下示例显示了如何使用旧API和新API创建球形灯。" + +#: ../../source/refs/migration.rst +msgid "Code for Isaac Sim 2022.2.1 and below" +msgstr "用于Isaac Sim 2022.2.1及以下版本的代码" + +#: ../../source/refs/migration.rst +msgid "Code for Isaac Sim 2023.1.0 and above" +msgstr "用于Isaac Sim 2023.1.0及以上版本的代码" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/refs/troubleshooting.po b/docs/locale/zh_CN/LC_MESSAGES/source/refs/troubleshooting.po new file mode 100644 index 0000000000..9c01893e93 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/refs/troubleshooting.po @@ -0,0 +1,268 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/refs/troubleshooting.rst:2 +msgid "Tricks and Troubleshooting" +msgstr "技巧和故障排除" + +#: ../../source/refs/troubleshooting.rst:6 +msgid "" +"The following lists some of the common tricks and troubleshooting methods " +"that we use in our common workflows. Please also check the `troubleshooting " +"page on Omniverse `__ for more assistance." +msgstr "" +"下面列出了我们在常见工作流程中使用的一些常见技巧和故障排除方法。还请查看 Omniverse " +"上的`故障排除页面`__ 以获取更多帮助。" + +#: ../../source/refs/troubleshooting.rst:13 +msgid "Checking the internal logs from the simulator" +msgstr "检查模拟器的内部日志" + +#: ../../source/refs/troubleshooting.rst:15 +msgid "" +"When running the simulator from a standalone script, it logs warnings and " +"errors to the terminal. At the same time, it also logs internal messages to " +"a file. These are useful for debugging and understanding the internal state " +"of the simulator. Depending on your system, the log file can be found in the" +" locations listed `here " +"`_." +msgstr "" +"在从独立脚本运行模拟器时，它会将警告和错误记录到终端。同时，它还会将内部消息记录到文件中。这些对于调试和理解模拟器的内部状态是很有用的。根据您的系统，日志文件可以在此处列出的位置中找到``_。" + +#: ../../source/refs/troubleshooting.rst:20 +msgid "" +"To obtain the exact location of the log file, you need to check the first " +"few lines of the terminal output when you run the standalone script. The log" +" file location is printed at the start of the terminal output. For example:" +msgstr "要获取日志文件的确切位置，您需要检查运行独立脚本时终端输出的前几行。日志文件的位置将打印在终端输出的开头。例如：" + +#: ../../source/refs/troubleshooting.rst:32 +msgid "" +"In the above example, the log file is located at ``.../logs/Kit/Isaac-" +"Sim/2023.1/kit_20240328_183346.log``, ``...`` is the path to the user's log " +"directory. The log file is named ``kit_20240328_183346.log``" +msgstr "" +"在上面的例子中，日志文件位于``.../logs/Kit/Isaac-" +"Sim/2023.1/kit_20240328_183346.log``，``...`` " +"是用户日志目录的路径。日志文件的名称为``kit_20240328_183346.log``" + +#: ../../source/refs/troubleshooting.rst:35 +msgid "" +"You can open this file to check the internal logs from the simulator. Also " +"when reporting issues, please include this log file to help us debug the " +"issue." +msgstr "您可以打开此文件检查来自模拟器的内部日志。此外，在报告问题时，请包括此日志文件以帮助我们调试问题。" + +#: ../../source/refs/troubleshooting.rst:40 +msgid "Using CPU Scaling Governor for performance" +msgstr "使用 CPU 调频管理器提升性能" + +#: ../../source/refs/troubleshooting.rst:42 +msgid "" +"By default on many systems, the CPU frequency governor is set to “powersave”" +" mode, which sets the CPU to lowest static frequency. To increase the " +"maximum performance, we recommend setting the CPU frequency governor to " +"“performance” mode. For more details, please check the the link `here " +"`__." +msgstr "" +"在许多系统上，默认情况下，CPU 频率调节器设置为“节能”模式，这将使 CPU 的频率保持在最低的静态频率。为了提高最大性能，我们建议将 CPU " +"频率调节器设置为“性能”模式。有关更多详细信息，请查看此链接``__。" + +#: ../../source/refs/troubleshooting.rst:50 +msgid "" +"We advice not to set the governor to “performance” mode on a system with " +"poor cooling (such as laptops), since it may cause the system to overheat." +msgstr "我们建议在散热较差的系统上（如笔记本电脑）不要将调节器设置为“性能”模式，因为这可能会导致系统过热。" + +#: ../../source/refs/troubleshooting.rst:53 +msgid "To view existing ``scaling_governor`` value per CPU:" +msgstr "要查看每个 CPU 的现有``scaling_governor`` 值：" + +#: ../../source/refs/troubleshooting.rst:59 +msgid "To change the governor to “performance” mode for each CPU:" +msgstr "要将每个 CPU 的调节器更改为“性能”模式：" + +#: ../../source/refs/troubleshooting.rst:67 +msgid "Observing long load times at the start of the simulation" +msgstr "观察模拟开始时的长时间加载" + +#: ../../source/refs/troubleshooting.rst:69 +msgid "" +"The first time you run the simulator, it will take a long time to load up. " +"This is because the simulator is compiling shaders and loading assets. " +"Subsequent runs should be faster to start up, but may still take some time." +msgstr "第一次运行模拟器时，加载时间会很长。这是因为模拟器正在编译着色器和加载资源。随后的运行应该会更快启动，但可能仍需要一些时间。" + +#: ../../source/refs/troubleshooting.rst:73 +msgid "" +"Please note that once the Isaac Sim app loads, the environment creation time" +" may scale linearly with the number of environments. Please expect a longer " +"load time if running with thousands of environments or if each environment " +"contains a larger number of assets. We are continually working on improving " +"the time needed for this." +msgstr "" +"请注意，一旦 Isaac Sim " +"应用加载，环境创建时间可能会随环境数量成线性扩展。如果运行数千个环境，或者每个环境包含更多资源，则请预期加载时间会更长。我们一直在努力改进这一点所需的时间。" + +#: ../../source/refs/troubleshooting.rst:78 +msgid "" +"When an instance of Isaac Sim is already running, launching another Isaac " +"Sim instance in a different process may appear to hang at startup for the " +"first time. Please be patient and give it some time as the second process " +"will take longer to start up due to slower shader compilation." +msgstr "" +"当一个 Isaac Sim 实例已经在运行时，启动另一个 Isaac Sim " +"实例可能因较慢的着色器编译而在启动时出现停顿。请耐心等待一段时间，因为第二个进程会因着色器编译较慢而需要更长时间启动。" + +#: ../../source/refs/troubleshooting.rst:84 +msgid "Receiving a “PhysX error” when running simulation on GPU" +msgstr "在 GPU 上运行模拟时收到“PhysX 错误”" + +#: ../../source/refs/troubleshooting.rst:86 +msgid "" +"When using the GPU pipeline, the buffers used for the physics simulation are" +" allocated on the GPU only once at the start of the simulation. This means " +"that they do not grow dynamically as the number of collisions or objects in " +"the scene changes. If the number of collisions or objects in the scene " +"exceeds the size of the buffers, the simulation will fail with an error such" +" as the following:" +msgstr "" +"在使用 GPU 管道时，用于物理模拟的缓冲区仅在模拟开始时在 GPU " +"上分配。这意味着当场景中的碰撞或对象数量超过缓冲区的大小时，模拟将因错误而失败，例如：" + +#: ../../source/refs/troubleshooting.rst:96 +msgid "" +"In this case, you need to increase the size of the buffers passed to the " +":class:`~omni.isaac.lab.sim.SimulationContext` class. The size of the " +"buffers can be increased by setting the " +":attr:`~omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity` parameter" +" in the :class:`~omni.isaac.lab.sim.PhysxCfg` class. For example, to " +"increase the size of the buffers to 4096, you can use the following code:" +msgstr "" +"在这种情况下，您需要通过设置 :class:`~omni.isaac.lab.sim.PhysxCfg` 类中的 " +":attr:`~omni.isaac.lab.sim.PhysxCfg.gpu_found_lost_pairs_capacity` 参数来增加传递给 " +":class:`~omni.isaac.lab.sim.SimulationContext` 类的缓冲区大小。例如，要将缓冲区大小增加到 " +"4096，可以使用以下代码：" + +#: ../../source/refs/troubleshooting.rst:110 +msgid "" +"Please see the documentation for :class:`~omni.isaac.lab.sim.SimulationCfg` " +"for more details on the parameters that can be used to configure the " +"simulation." +msgstr "" +"有关可以用来配置模拟的参数的更多详细信息，请参阅 :class:`~omni.isaac.lab.sim.SimulationCfg` 的文档。" + +#: ../../source/refs/troubleshooting.rst:115 +msgid "Preventing memory leaks in the simulator" +msgstr "预防模拟器中的内存泄漏" + +#: ../../source/refs/troubleshooting.rst:117 +msgid "" +"Memory leaks in the Isaac Sim simulator can occur when C++ callbacks are " +"registered with Python objects. This happens when callback functions within " +"classes maintain references to the Python objects they are associated with. " +"As a result, Python's garbage collection is unable to reclaim memory " +"associated with these objects, preventing the corresponding C++ objects from" +" being destroyed. Over time, this can lead to memory leaks and increased " +"resource usage." +msgstr "" +"Isaac Sim 模拟器中可能会出现内存泄漏，当 C++ 回调与 Python 对象注册时即可能发生。当类内的回调函数保持与其关联的 Python " +"对象的引用时，这种情况就会发生。因此，Python 的垃圾收集器无法回收与这些对象关联的内存，从而导致相应的 C++ " +"对象无法被销毁。久而久之，这可能导致内存泄漏和资源使用量增加。" + +#: ../../source/refs/troubleshooting.rst:123 +msgid "" +"To prevent memory leaks in the Isaac Sim simulator, it is essential to use " +"weak references when registering callbacks with the simulator. This ensures " +"that Python objects can be garbage collected when they are no longer needed," +" thereby avoiding memory leaks. The `weakref " +"`_ module from the Python " +"standard library can be employed for this purpose." +msgstr "" +"为了防止模拟器中的内存泄漏，关键是在向模拟器注册回调时使用弱引用。这可以确保在不再需要时 Python 对象可以被垃圾收集，从而避免内存泄漏。可以使用 " +"Python 标准库中的`weakref `_ " +"模块来实现这一目的。" + +#: ../../source/refs/troubleshooting.rst:129 +msgid "" +"For example, consider a class with a callback function ``on_event_callback``" +" that needs to be registered with the simulator. If you use a strong " +"reference to the ``MyClass`` object when passing the callback, the reference" +" count of the ``MyClass`` object will be incremented. This prevents the " +"``MyClass`` object from being garbage collected when it is no longer needed," +" i.e., the ``__del__`` destructor will not be called." +msgstr "" +"例如，考虑一个具有需要向模拟器注册的回调函数``on_event_callback``的类。如果在传递回调时对``MyClass``对象使用强引用，那么``MyClass``对象的引用计数将增加。这将阻止``MyClass``对象在不再需要时被垃圾收集，即当它不再需要时将不会调用``__del__``析构函数。" + +#: ../../source/refs/troubleshooting.rst:154 +msgid "" +"To fix this issue, it's crucial to employ weak references when registering " +"the callback. While this approach adds some verbosity to the code, it " +"ensures that the ``MyClass`` object can be garbage collected when no longer " +"in use. Here's the modified code:" +msgstr "" +"为了解决这个问题，当注册回调时使用弱引用是至关重要的。尽管这种方法会增加代码的冗长，但可以确保在不再使用时``MyClass``对象可以被垃圾收集。以下是修改后的代码：" + +#: ../../source/refs/troubleshooting.rst:178 +msgid "" +"In this revised code, the weak reference ``weakref.proxy(self)`` is used " +"when registering the callback, allowing the ``MyClass`` object to be " +"properly garbage collected." +msgstr "" +"在这个修改后的代码中，当注册回调时使用了弱引用``weakref.proxy(self)``，这样``MyClass``对象就可以被垃圾收集。" + +#: ../../source/refs/troubleshooting.rst:181 +msgid "" +"By following this pattern, you can prevent memory leaks and maintain a more " +"efficient and stable simulation." +msgstr "通过遵循这种模式，您可以预防内存泄漏并保持模拟更加高效和稳定。" + +#: ../../source/refs/troubleshooting.rst:185 +msgid "Understanding the error logs from crashes" +msgstr "理解崩溃时的错误日志" + +#: ../../source/refs/troubleshooting.rst:187 +msgid "" +"Many times the simulator crashes due to a bug in the implementation. This " +"swamps the terminal with exceptions, some of which are coming from the " +"python interpreter calling ``__del__()`` destructor of the simulation " +"application. These typically look like the following:" +msgstr "" +"模拟器经常因实现中的错误而崩溃。这会导致终端充斥着异常情况，其中一些是来自 Python " +"解释器调用``__del__()``析构函数的模拟器应用程序。典型的异常看起来像这样：" + +#: ../../source/refs/troubleshooting.rst:229 +msgid "" +"This is a known error with running standalone scripts with the Isaac Sim " +"simulator. Please scroll above the exceptions thrown with ``registry`` to " +"see the actual error log." +msgstr "" +"这是因为使用 Isaac Sim 模拟器运行独立脚本时会出现的已知错误。请向上滚动查看伴随着``registry``抛出的异常，以查看实际的错误日志。" + +#: ../../source/refs/troubleshooting.rst:233 +msgid "In the above case, the actual error is:" +msgstr "在上述情况下，实际错误是:" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/setup/developer.po b/docs/locale/zh_CN/LC_MESSAGES/source/setup/developer.po new file mode 100644 index 0000000000..5c34930104 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/setup/developer.po @@ -0,0 +1,407 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 12:43+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/setup/developer.rst:2 +msgid "Developer's Guide" +msgstr "开发人员指南" + +#: ../../source/setup/developer.rst:4 +msgid "" +"For development, we suggest using `Microsoft Visual Studio Code (VSCode) " +"`__. This is also suggested by NVIDIA " +"Omniverse and there exists tutorials on how to `debug Omniverse extensions " +"`__ " +"using VSCode." +msgstr "" +"对于开发，我们建议使用`Microsoft Visual Studio Code (VSCode) " +"`__。 NVIDIA " +"Omniverse也建议使用此方法，并且存在有关如何使用VSCode进行`调试Omniverse扩展 " +"`__的教程。" + +#: ../../source/setup/developer.rst:12 +msgid "Setting up Visual Studio Code" +msgstr "设置Visual Studio Code" + +#: ../../source/setup/developer.rst:14 +msgid "" +"The following is only applicable for Isaac Sim installed via the Omniverse " +"Launcher. The ``Isaac Lab`` repository includes the VSCode settings to " +"easily allow setting up your development environment. These are included in " +"the ``.vscode`` directory and include the following files:" +msgstr "" +"以下仅适用于通过Omniverse Launcher安装的Isaac Sim。 ``Isaac " +"Lab``存储库包括VSCode设置，可以轻松设置开发环境。 这些设置包含在``.vscode``目录中，并包括以下文件：" + +#: ../../source/setup/developer.rst:32 +msgid "To setup the IDE, please follow these instructions:" +msgstr "设置IDE，请按照以下说明进行操作：" + +#: ../../source/setup/developer.rst:34 +msgid "Open the ``Isaac Lab`` directory on Visual Studio Code IDE" +msgstr "在Visual Studio Code IDE中打开``Isaac Lab``目录" + +#: ../../source/setup/developer.rst:35 +msgid "" +"Run VSCode `Tasks `__, by " +"pressing ``Ctrl+Shift+P``, selecting ``Tasks: Run Task`` and running the " +"``setup_python_env`` in the drop down menu." +msgstr "" +"通过按下``Ctrl+Shift+P``，选择``Tasks: Run " +"Task``并运行下拉菜单中的``setup_python_env``来运行VSCode `Tasks " +"`__。" + +#: ../../source/setup/developer.rst +msgid "VSCode Tasks" +msgstr "VSCode任务" + +#: ../../source/setup/developer.rst:44 +msgid "" +"If everything executes correctly, it should create the following files:" +msgstr "如果一切正常执行，它应该创建以下文件：" + +#: ../../source/setup/developer.rst:46 +msgid "" +"``.vscode/launch.json``: Contains the launch configurations for debugging " +"python code." +msgstr "``.vscode/launch.json``: 包含用于调试 Python 代码的启动配置。" + +#: ../../source/setup/developer.rst:47 +msgid "" +"``.vscode/settings.json``: Contains the settings for the python interpreter " +"and the python environment." +msgstr "``.vscode/settings.json``: 包含 Python 解释器和 Python 环境的设置。" + +#: ../../source/setup/developer.rst:49 +msgid "" +"For more information on VSCode support for Omniverse, please refer to the " +"following links:" +msgstr "有关Omniverse的VSCode支持的更多信息，请参阅以下链接：" + +#: ../../source/setup/developer.rst:52 +msgid "" +"`Isaac Sim VSCode support " +"`__" +msgstr "" +"`Isaac Sim VSCode支持 " +"`__" + +#: ../../source/setup/developer.rst:53 +msgid "" +"`Debugging with VSCode " +"`__" +msgstr "" +"`使用VSCode进行调试 " +"`__" + +#: ../../source/setup/developer.rst:57 +msgid "Configuring the python interpreter" +msgstr "配置Python解释器" + +#: ../../source/setup/developer.rst:59 +msgid "" +"In the provided configuration, we set the default python interpreter to use " +"the python executable provided by Omniverse. This is specified in the " +"``.vscode/settings.json`` file:" +msgstr "" +"在提供的配置中，我们将默认Python解释器设置为使用Omniverse提供的Python可执行文件。 " +"这在``.vscode/settings.json``文件中指定：" + +#: ../../source/setup/developer.rst:69 +msgid "" +"If you want to use a different python interpreter (for instance, from your " +"conda environment), you need to change the python interpreter used by " +"selecting and activating the python interpreter of your choice in the bottom" +" left corner of VSCode, or opening the command palette (``Ctrl+Shift+P``) " +"and selecting ``Python: Select Interpreter``." +msgstr "" +"如果您想要使用不同的Python解释器（例如，来自您的conda环境），则需要通过选择和激活您选择的Python解释器来更改所使用的Python解释器VSCode的左下角，或者打开命令面板（``Ctrl+Shift+P``）并选择``Python:" +" Select Interpreter``。" + +#: ../../source/setup/developer.rst:74 +msgid "" +"For more information on how to set python interpreter for VSCode, please " +"refer to the `VSCode documentation " +"`_." +msgstr "" +"有关如何为VSCode设置Python解释器的更多信息，请参阅`VSCode文档 " +"`_。" + +#: ../../source/setup/developer.rst:78 +msgid "Repository organization" +msgstr "存储库组织" + +#: ../../source/setup/developer.rst:80 +msgid "The ``Isaac Lab`` repository is structured as follows:" +msgstr "``Isaac Lab``存储库的结构如下：" + +#: ../../source/setup/developer.rst:105 +msgid "" +"The ``source`` directory contains the source code for all ``Isaac Lab`` " +"*extensions* and *standalone applications*. The two are the different " +"development workflows supported in `Isaac Sim " +"`__." +" These are described in the following sections." +msgstr "" +"``source``目录包含所有``Isaac Lab``*扩展*和*独立应用程序*的源代码。 这两种开发工作流受到了`Isaac Sim " +"`__的支持。" +" 这些在以下章节中有所描述。" + +#: ../../source/setup/developer.rst:111 +msgid "Extensions" +msgstr "扩展" + +#: ../../source/setup/developer.rst:113 +msgid "" +"Extensions are the recommended way to develop applications in Isaac Sim. " +"They are modularized packages that formulate the Omniverse ecosystem. Each " +"extension provides a set of functionalities that can be used by other " +"extensions or standalone applications. A folder is recognized as an " +"extension if it contains an ``extension.toml`` file in the ``config`` " +"directory. More information on extensions can be found in the `Omniverse " +"documentation `__." +msgstr "" +"推荐的方法是在Isaac Sim中开发应用程序的扩展。它们是模块化的软件包，构成了Omniverse生态系统。 " +"每个扩展都提供一组功能，可供其他扩展或独立应用程序使用。 " +"如果包含``config``目录中的``extension.toml``文件，则将一个文件夹识别为扩展。 " +"有关扩展的更多信息，请参阅`Omniverse文档 `__。" + +#: ../../source/setup/developer.rst:120 +msgid "" +"Isaac Lab in itself provides extensions for robot learning. These are " +"written into the ``source/extensions`` directory. Each extension is written " +"as a python package and follows the following structure:" +msgstr "" +"Isaac Lab本身提供了用于机器人学习的扩展。 这些扩展写入``source/extensions``目录。 " +"每个扩展都以Python包的形式编写，并遵循以下结构：" + +#: ../../source/setup/developer.rst:139 +msgid "" +"The ``config/extension.toml`` file contains the metadata of the extension. " +"This includes the name, version, description, dependencies, etc. This " +"information is used by Omniverse to load the extension. The ``docs`` " +"directory contains the documentation for the extension with more detailed " +"information about the extension and a CHANGELOG file that contains the " +"changes made to the extension in each version." +msgstr "" +"``config/extension.toml``文件包含扩展的元数据。 这包括名称，版本，描述，依赖关系等。 " +"Omniverse使用这些信息来加载扩展。 ``docs``目录包含有关扩展的具有更多详细信息的文档以及包含扩展每个版本更改的CHANGELOG文件。" + +#: ../../source/setup/developer.rst:145 +msgid "" +"The ```` directory contains the main python package for the " +"extension. It may also contains the ``scripts`` directory for keeping " +"python-based applications that are loaded into Omniverse when then extension" +" is enabled using the `Extension Manager " +"`__." +msgstr "" +"````文件夹包含扩展的主Python包。 " +"它还可能包含``scripts``目录，用于保存在启用扩展时加载到Omniverse中的基于Python的应用程序的文件。使用`扩展管理器 " +"`__。" + +#: ../../source/setup/developer.rst:150 +msgid "" +"More specifically, when an extension is enabled, the python module specified" +" in the ``config/extension.toml`` file is loaded and scripts that contains " +"children of the :class:`omni.ext.IExt` class are executed." +msgstr "" +"更具体地说，启用扩展时，``config/extension.toml``文件中指定的Python模块被加载，并且包含：omni.ext.IExt类的子级的脚本会被执行。" + +#: ../../source/setup/developer.rst:172 +msgid "" +"While loading extensions into Omniverse happens automatically, using the " +"python package in standalone applications requires additional steps. To " +"simplify the build process and avoiding the need to understand the `premake " +"`__ build system used by Omniverse, we directly " +"use the `setuptools `__ python" +" package to build the python module provided by the extensions. This is done" +" by the ``setup.py`` file in the extension directory." +msgstr "" +"将扩展加载到Omniverse中是自动进行的，但是在独立应用程序中使用Python包需要额外的步骤。 " +"为了简化构建过程并避免需要了解Omniverse使用的`premake " +"`__构建系统，我们直接使用`setuptools " +"`__ Python软件包来构建扩展的Python模块。 " +"这是通过扩展目录中的``setup.py``文件完成的。" + +#: ../../source/setup/developer.rst:181 +msgid "" +"The ``setup.py`` file is not required for extensions that are only loaded " +"into Omniverse using the `Extension Manager " +"`__." +msgstr "" +"``setup.py``文件不适用于只使用`扩展管理器 " +"`__加载到Omniverse中的扩展。" + +#: ../../source/setup/developer.rst:184 +msgid "" +"Lastly, the ``tests`` directory contains the unit tests for the extension. " +"These are written using the `unittest " +"`__ framework. It is " +"important to note that Omniverse also provides a similar `testing framework " +"`__. However, it requires going " +"through the build process and does not support testing of the python module " +"in standalone applications." +msgstr "" +"最后，``tests``目录包含扩展的单元测试。 这是使用`unittest " +"`__框架编写的。 " +"需要注意的是Omniverse还提供了类似的`测试框架 `__。 " +"但是，它需要经过构建过程，并且不支持独立应用程序中Python模块的测试。" + +#: ../../source/setup/developer.rst:192 +msgid "Extension Dependency Management" +msgstr "扩展依赖管理" + +#: ../../source/setup/developer.rst:194 +msgid "" +"Certain extensions may have dependencies which need to be installed before " +"the extension can be run. While Python dependencies can be expressed via the" +" ``INSTALL_REQUIRES`` array in ``setup.py``, we need a separate installation" +" pipeline to handle non-Python dependencies. We have therefore created an " +"additional setup procedure, ``python tools/install_deps.py {dep_type} " +"{extensions_dir}``, which scans the ``extension.toml`` file of the " +"directories under the ``{extensions_dir}`` (such as " +"``${ISAACLAB_PATH}/source/extensions``) for ``apt`` and ``rosdep`` " +"dependencies." +msgstr "" +"某些扩展可能具有依赖关系，需要在扩展可以运行之前进行安装。 " +"尽管可以通过``setup.py``中的``INSTALL_REQUIRES``数组来指定Python依赖项，但是我们需要一个单独的安装流程来处理非Python依赖项。" +" 因此，我们创建了一个额外的设置过程，``python tools/install_deps.py {dep_type} " +"{extensions_dir}``，它会扫描``{extensions_dir}``（例如``${ISAACLAB_PATH}/source/extensions``）下的目录的``extension.toml``文件，以扫描出``apt``和``rosdep``依赖项。" + +#: ../../source/setup/developer.rst:200 +msgid "" +"This example ``extension.toml`` has both ``apt_deps`` and ``ros_ws`` " +"specified, so both ``apt`` and ``rosdep`` packages will be installed if " +"``python tools/install_deps.py all ${ISAACLAB_PATH}/source/extensions`` is " +"passed:" +msgstr "" +"在上例的``extension.toml``中，指定了``apt_deps``和``ros_ws``，因此如果传递``python " +"tools/install_deps.py all " +"${ISAACLAB_PATH}/source/extensions``，则会安装``apt``和``rosdep``包：" + +#: ../../source/setup/developer.rst:210 +msgid "" +"From the ``apt_deps`` in the above example, the package ``example_package`` " +"would be installed via ``apt``. From the ``ros_ws``, a ``rosdep install " +"--from-paths {ros_ws}/src --ignore-src`` command will be called. This will " +"install all the `ROS package.xml dependencies " +"`__ in " +"the directory structure below. Currently the ROS distro is assumed to be " +"``humble``." +msgstr "" +"从上例的``apt_deps``中，将通过``apt``安装包``example_package``。 从``ros_ws``中，将调用``rosdep" +" install --from-paths {ros_ws}/src --ignore-src``命令。 这将安装以下目录结构中的所有`ROS " +"package.xml依赖项 " +"`__。当前假定ROS版本为``humble``。" + +#: ../../source/setup/developer.rst:215 +msgid "" +"``apt`` deps are automatically installed this way during the build process " +"of the ``Dockerfile.base``, and ``rosdep`` deps during the build process of " +"``Dockerfile.ros2``." +msgstr "" +"``apt`` dep在``Dockerfile.base``的构建过程中将自动以这种方式进行安装，``rosdep`` " +"dep在``Dockerfile.ros2``的构建过程中进行安装。" + +#: ../../source/setup/developer.rst:220 +msgid "Standalone applications" +msgstr "独立应用程序" + +#: ../../source/setup/developer.rst:222 +msgid "" +"In a typical Omniverse workflow, the simulator is launched first, after " +"which the extensions are enabled that load the python module and run the " +"python application. While this is a recommended workflow, it is not always " +"possible to use this workflow. For example, for robot learning, it is " +"essential to have complete control over simulation stepping and all the " +"other functionalities instead of asynchronously waiting for the simulator to" +" step. In such cases, it is necessary to write a standalone application that" +" launches the simulator using :class:`~omni.isaac.lab.app.AppLauncher` and " +"allows complete control over the simulation through the " +":class:`~omni.isaac.lab.sim.SimulationContext` class." +msgstr "" +"在典型的Omniverse工作流程中，首先启动模拟器，然后启用扩展以加载Python模块并运行Python应用程序。 " +"尽管这是一种推荐的工作流程，但并非总是可以使用此工作流程。 例如，对于机器人学习，需要对模拟器进行完全控制，而不是异步等待模拟器进行操作的所有其他功能。" +" " +"在这种情况下，有必要编写一个独立应用程序，该应用程序使用:class:`~omni.isaac.lab.app.AppLauncher`启动模拟器，并通过:class:`~omni.isaac.lab.sim.SimulationContext`类对模拟进行完全控制。" + +#: ../../source/setup/developer.rst:260 +msgid "" +"The ``source/standalone`` directory contains various standalone applications" +" designed using the extensions provided by ``Isaac Lab``. These applications" +" are written in python and are structured as follows:" +msgstr "" +"``source/standalone``目录包含使用``Isaac Lab``提供的扩展设计的各种独立应用程序。 " +"这些应用程序以Python编写，并且拥有以下结构：" + +#: ../../source/setup/developer.rst:263 +msgid "" +"**demos**: Contains various demo applications that showcase the core " +"framework ``omni.isaac.lab``." +msgstr "**演示**：包含展示核心框架``omni.isaac.lab``的各种演示应用程序。" + +#: ../../source/setup/developer.rst:264 +msgid "" +"**environments**: Contains applications for running environments defined in " +"``omni.isaac.lab_tasks`` with different agents. These include a random " +"policy, zero-action policy, teleoperation or scripted state machines." +msgstr "" +"**环境**：包含用于运行``omni.isaac.lab_tasks``中定义的具有不同代理的环境的应用程序。 " +"这些包括随机策略，零动作策略，遥操作或脚本状态机。" + +#: ../../source/setup/developer.rst:266 +msgid "" +"**tools**: Contains applications for using the tools provided by the " +"framework. These include converting assets, generating datasets, etc." +msgstr "**工具**：包含用于使用框架提供的工具的应用程序。 这些包括转换资产，生成数据集等。" + +#: ../../source/setup/developer.rst:268 +msgid "" +"**tutorials**: Contains step-by-step tutorials for using the APIs provided " +"by the framework." +msgstr "**教程**：包含使用框架提供的API的分步教程。" + +#: ../../source/setup/developer.rst:269 +msgid "" +"**workflows**: Contains applications for using environments with various " +"learning-based frameworks. These include different reinforcement learning or" +" imitation learning libraries." +msgstr "**工作流程**：包含使用各种基于学习的框架的环境的应用程序。 这些包括不同的强化学习或模拟学习库。" + +#~ msgid "" +#~ "If everything executes correctly, it should create a file ``.python.env`` in" +#~ " the ``.vscode`` directory. The file contains the python paths to all the " +#~ "extensions provided by Isaac Sim and Omniverse. This helps in indexing all " +#~ "the python modules for intelligent suggestions while writing code." +#~ msgstr "" +#~ "如果一切执行正确，则它应该在``.vscode``目录中创建一个名为``.python.env``的文件。 该文件包含Isaac " +#~ "Sim和Omniverse提供的所有扩展的Python路径。 这有助于在编写代码时对所有Python模块进行索引以获取智能建议。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/setup/faq.po b/docs/locale/zh_CN/LC_MESSAGES/source/setup/faq.po new file mode 100644 index 0000000000..381df18865 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/setup/faq.po @@ -0,0 +1,180 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/setup/faq.rst:2 +msgid "Frequently Asked Questions" +msgstr "常见问题" + +#: ../../source/setup/faq.rst:5 +msgid "Where does Isaac Lab fit in the Isaac ecosystem?" +msgstr "Isaac Lab在Isaac生态系统中扮演什么角色？" + +#: ../../source/setup/faq.rst:7 +msgid "" +"Over the years, NVIDIA has developed a number of tools for robotics and AI. " +"These tools leverage the power of GPUs to accelerate the simulation both in " +"terms of speed and realism. They show great promise in the field of " +"simulation technology and are being used by many researchers and companies " +"worldwide." +msgstr "" +"多年来，NVIDIA开发了许多面向机器人和人工智能的工具。这些工具利用GPU的强大性能加速模拟，提高了模拟的速度和逼真度，在模拟技术领域显示出极大的潜力，并被全球许多研究员和公司广泛应用。" + +#: ../../source/setup/faq.rst:12 +msgid "" +"`Isaac Gym`_ :cite:`makoviychuk2021isaac` provides a high performance GPU-" +"based physics simulation for robot learning. It is built on top of `PhysX`_ " +"which supports GPU-accelerated simulation of rigid bodies and a Python API " +"to directly access physics simulation data. Through an end-to-end GPU " +"pipeline, it is possible to achieve high frame rates compared to CPU-based " +"physics engines. The tool has been used successfully in a number of research" +" projects, including legged locomotion :cite:`rudin2022learning` " +":cite:`rudin2022advanced`, in-hand manipulation :cite:`handa2022dextreme` " +":cite:`allshire2022transferring`, and industrial assembly " +":cite:`narang2022factory`." +msgstr "" +"`Isaac Gym`_ " +":cite:`makoviychuk2021isaac`提供了一个高性能的基于GPU的机器人学习物理模拟器。它建立在`PhysX`_之上，支持GPU加速的刚体模拟和用于直接访问物理模拟数据的Python" +" API。通过端到端的GPU流水线，相对于基于CPU的物理引擎，可以实现高帧率。该工具已成功应用于许多研究项目中，包括：四足动物行走 " +":cite:`rudin2022learning` :cite:`rudin2022advanced`、手中操作 " +":cite:`handa2022dextreme` :cite:`allshire2022transferring`和工业装配 " +":cite:`narang2022factory`。" + +#: ../../source/setup/faq.rst:20 +msgid "" +"Despite the success of Isaac Gym, it is not designed to be a general purpose" +" simulator for robotics. For example, it does not include interaction " +"between deformable and rigid objects, high-fidelity rendering, and support " +"for ROS. The tool has been primarily designed as a preview release to " +"showcase the capabilities of the underlying physics engine. With the release" +" of `Isaac Sim`_, NVIDIA is building a general purpose simulator for " +"robotics and has integrated the functionalities of Isaac Gym into Isaac Sim." +msgstr "" +"尽管Isaac " +"Gym很成功，但它不是为机器人学习而设计的通用模拟器。例如，它不包括可变形和刚性对象之间的交互，高保真度渲染以及ROS的支持。该工具主要是作为预览版发布，以展示底层物理引擎的功能。随着`Isaac" +" Sim`_的发布，NVIDIA正在构建通用的机器人模拟器，并将Isaac Gym的功能集成到Isaac Sim中。" + +#: ../../source/setup/faq.rst:27 +msgid "" +"`Isaac Sim`_ is a robot simulation toolkit built on top of Omniverse, which " +"is a general purpose platform that aims to unite complex 3D workflows. Isaac" +" Sim leverages the latest advances in graphics and physics simulation to " +"provide a high-fidelity simulation environment for robotics. It supports " +"ROS/ROS2, various sensor simulation, tools for domain randomization and " +"synthetic data creation. Tiled rendering support in Isaac Sim allows for " +"vectorized rendering across environments, along with support for running in " +"the cloud using `Isaac Automator`_. Overall, it is a powerful tool for " +"roboticists and is a huge step forward in the field of robotics simulation." +msgstr "" +"`Isaac Sim`_是一个构建在Omniverse之上的机器人模拟工具包，Omniverse是旨在统一复杂3D工作流的通用平台。Isaac " +"Sim利用最新的图形和物理模拟技术，为机器人提供高保真度的模拟环境。它支持ROS/ROS2、各种传感器模拟、域随机化和合成数据创建工具。Isaac " +"Sim中的平铺渲染支持在环境中进行矢量化渲染，并支持使用`Isaac " +"Automator`_在云中运行。总的来说，它是机器人学家的一个强大工具，是机器人模拟领域的一个重要进步。" + +#: ../../source/setup/faq.rst:36 +msgid "" +"With the release of above two tools, NVIDIA also released an open-sourced " +"set of environments called `IsaacGymEnvs`_ and `OmniIsaacGymEnvs`_, that " +"have been built on top of Isaac Gym and Isaac Sim respectively. These " +"environments have been designed to display the capabilities of the " +"underlying simulators and provide a starting point to understand what is " +"possible with the simulators for robot learning. These environments can be " +"used for benchmarking but are not designed for developing and testing custom" +" environments and algorithms. This is where Isaac Lab comes in." +msgstr "" +"随着以上两个工具的发布，NVIDIA还发布了一个名为`IsaacGymEnvs`_和`OmniIsaacGymEnvs`_的开源环境集，它们是分别建立在Isaac" +" Gym和Isaac " +"Sim之上。这些环境旨在展示底层模拟器的功能，并为了解模拟器用于机器人学习的可能性提供了一个起点。这些环境可用于基准测试，但不适用于开发和测试定制环境和算法。这就是Isaac" +" Lab的作用所在。" + +#: ../../source/setup/faq.rst:43 +msgid "" +"Isaac Lab is built on top of Isaac Sim to provide a unified and flexible " +"framework for robot learning that exploits latest simulation technologies. " +"It is designed to be modular and extensible, and aims to simplify common " +"workflows in robotics research (such as RL, learning from demonstrations, " +"and motion planning). While it includes some pre-built environments, " +"sensors, and tasks, its main goal is to provide an open-sourced, unified, " +"and easy-to-use interface for developing and testing custom environments and" +" robot learning algorithms. It not only inherits the capabilities of Isaac " +"Sim, but also adds a number of new features that pertain to robot learning " +"research. For example, including actuator dynamics in the simulation, " +"procedural terrain generation, and support to collect data from human " +"demonstrations." +msgstr "" +"Isaac Lab建立在Isaac " +"Sim之上，为机器人学习提供一个统一且灵活的框架，利用最新的模拟技术。它被设计成模块化和可扩展的，旨在简化机器人研究中常见的工作流程（如RL、基于演示的学习和运动规划）。尽管它包含一些预先构建的环境、传感器和任务，但它的主要目标是提供一个开源的、统一的、易于使用的界面，用于开发和测试定制环境和机器人学习算法。它不仅继承了Isaac" +" Sim的功能，还添加了一些与机器人学习研究相关的新功能。例如，在模拟中包括执行器动力学、程序地形生成和支持从人类演示中收集数据。" + +#: ../../source/setup/faq.rst:52 +msgid "" +"Isaac Lab replaces the previous `IsaacGymEnvs`_, `OmniIsaacGymEnvs`_ and " +"`Orbit`_ frameworks and will be the single robot learning framework for " +"Isaac Sim. Previously released frameworks are deprecated and we encourage " +"users to follow our `migration guides`_ to transition over to Isaac Lab." +msgstr "" +"Isaac Lab取代了以前的`IsaacGymEnvs`_、`OmniIsaacGymEnvs`_和`Orbit`_框架，将成为Isaac " +"Sim的单一机器人学习框架。之前发布的框架已被弃用，我们鼓励用户按照我们的`迁移指南`_完成迁移工作。" + +#: ../../source/setup/faq.rst:58 +msgid "Why should I use Isaac Lab?" +msgstr "我为什么要使用Isaac Lab？" + +#: ../../source/setup/faq.rst:60 +msgid "" +"Since Isaac Sim remains closed-sourced, it is difficult for users to " +"contribute to the simulator and build a common framework for research. On " +"its current path, we see the community using the simulator will simply " +"develop their own frameworks that will result in scattered efforts with a " +"lot of duplication of work. This has happened in the past with other " +"simulators, and we believe that it is not the best way to move forward as a " +"community." +msgstr "" +"由于Isaac " +"Sim仍然是闭源的，用户很难为模拟器做出贡献并构建一个共同的研究框架。在当前的道路上，我们看到使用模拟器的社区将仅开发自己的框架，这将导致分散的努力和大量重复的工作。这在过去的其他模拟器中已经发生过，我们认为这不是社区向前发展的最佳方式。" + +#: ../../source/setup/faq.rst:66 +msgid "" +"Isaac Lab provides an open-sourced platform for the community to drive " +"progress with consolidated efforts toward designing benchmarks and robot " +"learning systems as a joint initiative. This allows us to reuse existing " +"components and algorithms, and to build on top of each other's work. Doing " +"so not only saves time and effort, but also allows us to focus on the more " +"important aspects of research. Our hope with Isaac Lab is that it becomes " +"the de-facto platform for robot learning research and an environment *zoo* " +"that leverages Isaac Sim. As the framework matures, we foresee it " +"benefitting hugely from the latest simulation developments (as part of " +"internal developments at NVIDIA and collaborating partners) and research in " +"robotics." +msgstr "" +"Isaac " +"Lab为社区提供了一个开源平台，通过联合倡议驱动集中努力，为机器人学习系统设计基准和公用程序。这使我们能够重复使用现有的组件和算法，并在彼此的工作基础上建立。这不仅节省了时间和精力，还使我们能够专注于更重要的研究方面。我们希望Isaac" +" Lab能成为机器人学习研究的事实标准平台，并成为利用Isaac " +"Sim的环境“动物园”。随着框架的发展，我们预见将从NVIDIA和合作伙伴的内部发展以及机器人学习研究中受益最多的最新模拟发展。" + +#: ../../source/setup/faq.rst:75 +msgid "" +"We are already working with labs in universities and research institutions " +"to integrate their work into Isaac Lab and hope that others in the community" +" will join us too in this effort. If you are interested in contributing to " +"Isaac Lab, please reach out to us." +msgstr "" +"我们已经与大学和研究机构的实验室合作，将他们的工作整合到Isaac Lab中，并希望社区的其他成员也加入我们的努力中。如果您有兴趣为Isaac " +"Lab做出贡献，请与我们联系。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/binaries_installation.po b/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/binaries_installation.po new file mode 100644 index 0000000000..1f48d10ea9 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/binaries_installation.po @@ -0,0 +1,225 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/setup/installation/binaries_installation.rst:2 +msgid "Installation using Isaac Sim Binaries" +msgstr "使用Isaac Sim二进制进行安装" + +#: ../../source/setup/installation/binaries_installation.rst:6 +msgid "Installing Isaac Sim" +msgstr "安装Isaac Sim" + +#: ../../source/setup/installation/binaries_installation.rst:9 +msgid "Downloading pre-built binaries" +msgstr "下载预构建的二进制文件" + +#: ../../source/setup/installation/binaries_installation.rst:11 +msgid "" +"Please follow the Isaac Sim `documentation " +"`__" +" to install the latest Isaac Sim release." +msgstr "" +"请按照Isaac Sim `documentation " +"`__的说明安装最新的Isaac" +" Sim版本。" + +#: ../../source/setup/installation/binaries_installation.rst:15 +msgid "" +"To check the minimum system requirements,refer to the documentation `here " +"`__." +msgstr "" +"要检查最低系统要求，请参考`here " +"`__中的文档。" + +#: ../../source/setup/installation/binaries_installation.rst:19 +msgid "" +"We have tested Isaac Lab with Isaac Sim 4.0 release on Ubuntu 20.04LTS with " +"NVIDIA driver 525.147." +msgstr "我们已经在Ubuntu 20.04LTS上测试了Isaac Sim 4.0版本与NVIDIA驱动525.147的兼容性。" + +#: ../../source/setup/installation/binaries_installation.rst +msgid ":icon:`fa-brands fa-linux` Linux" +msgstr ":icon:`fa-brands fa-linux` Linux" + +#: ../../source/setup/installation/binaries_installation.rst:28 +msgid "" +"On Linux systems, by default, Isaac Sim is installed in the directory " +"``${HOME}/.local/share/ov/pkg/isaac_sim-*``, with ``*`` corresponding to the" +" Isaac Sim version." +msgstr "" +"在Linux系统上，默认情况下，Isaac " +"Sim安装在目录``${HOME}/.local/share/ov/pkg/isaac_sim-*``中，``*``对应于Isaac Sim的版本。" + +#: ../../source/setup/installation/binaries_installation.rst +msgid ":icon:`fa-brands fa-windows` Windows" +msgstr ":icon:`fa-brands fa-windows` Windows" + +#: ../../source/setup/installation/binaries_installation.rst:34 +msgid "" +"On Windows systems, by default,Isaac Sim is installed in the directory " +"``C:\\Users\\user\\AppData\\Local\\ov\\pkg\\isaac_sim-*``, with ``*`` " +"corresponding to the Isaac Sim version." +msgstr "" +"在Windows系统上，默认情况下，Isaac " +"Sim安装在目录``C:\\Users\\user\\AppData\\Local\\ov\\pkg\\isaac_sim-*``中，``*``对应于Isaac" +" Sim的版本。" + +#: ../../source/setup/installation/binaries_installation.rst:39 +msgid "Installing Isaac Lab" +msgstr "安装Isaac Lab" + +#: ../../source/setup/installation/binaries_installation.rst:42 +msgid "Cloning Isaac Lab" +msgstr "克隆Isaac Lab" + +#: ../../source/setup/installation/binaries_installation.rst:46 +msgid "" +"We recommend making a `fork `_ " +"of the Isaac Lab repository to contribute to the project but this is not " +"mandatory to use the framework. If you make a fork, please replace ``isaac-" +"sim`` with your username in the following instructions." +msgstr "" +"我们建议制作 `fork `_ " +"以便贡献到该项目，但这并不是使用该框架的必要条件。如果您制作了一个fork，请用你的用户名替换以下的``isaac-sim``。" + +#: ../../source/setup/installation/binaries_installation.rst:51 +msgid "Clone the Isaac Lab repository into your workspace:" +msgstr "将Isaac Lab库克隆到你的工作空间：" + +#: ../../source/setup/installation/binaries_installation.rst +msgid "SSH" +msgstr "SSH" + +#: ../../source/setup/installation/binaries_installation.rst +msgid "HTTPS" +msgstr "HTTPS" + +#: ../../source/setup/installation/binaries_installation.rst:69 +msgid "" +"We provide a helper executable `isaaclab.sh `_ that provides utilities to manage " +"extensions:" +msgstr "" +"我们提供了一个辅助可执行文件 `isaaclab.sh `_ 用来管理扩展：" + +#: ../../source/setup/installation/binaries_installation.rst:118 +msgid "Creating the Isaac Sim Symbolic Link" +msgstr "创建Isaac Sim符号链接" + +#: ../../source/setup/installation/binaries_installation.rst:120 +msgid "" +"Set up a symbolic link between the installed Isaac Sim root folder and " +"``_isaac_sim`` in the Isaac Lab directory. This makes it convenient to index" +" the python modules and look for extensions shipped with Isaac Sim." +msgstr "" +"在已安装的Isaac Sim根目录和Isaac " +"Lab目录的``_isaac_sim``之间建立符号链接。这样做方便了索引Python模块并查找与Isaac Sim一起提供的扩展。" + +#: ../../source/setup/installation/binaries_installation.rst:151 +msgid "Setting up the conda environment (optional)" +msgstr "配置conda环境（可选）" + +#: ../../source/setup/installation/binaries_installation.rst:154 +msgid "" +"This step is optional. If you are using the bundled python with Isaac Sim, " +"you can skip this step." +msgstr "此步骤是可选的。如果您使用Isaac Sim捆绑的Python，可以跳过此步骤。" + +#: ../../source/setup/installation/binaries_installation.rst:156 +msgid "" +"The executable ``isaaclab.sh`` automatically fetches the python bundled with" +" Isaac Sim, using ``./isaaclab.sh -p`` command (unless inside a virtual " +"environment). This executable behaves like a python executable, and can be " +"used to run any python script or module with the simulator. For more " +"information, please refer to the `documentation " +"`__." +msgstr "" +"可执行文件``isaaclab.sh``会自动获取与Isaac Sim捆绑的Python，使用``./isaaclab.sh " +"-p``命令（除非在虚拟环境中）。这个可执行文件的行为类似于Python可执行文件，可用于运行任何带有模拟器的Python脚本或模块。有关更多信息，请参考`documentation" +" " +"`__。" + +#: ../../source/setup/installation/binaries_installation.rst:162 +msgid "" +"Although using a virtual environment is optional, we recommend using " +"``conda``. To install ``conda``, please follow the instructions `here " +"`__. In case you want to use ``conda`` to create a " +"virtual environment, you can use the following command:" +msgstr "" +"虽然使用虚拟环境是可选的，但我们建议使用``conda``。要安装``conda``，请按照下面的说明进行操作`here " +"`__。如果您使用``conda``来创建虚拟环境，可以使用以下命令：" + +#: ../../source/setup/installation/binaries_installation.rst:191 +msgid "" +"If you are using ``conda`` to create a virtual environment, make sure to " +"activate the environment before running any scripts. For example:" +msgstr "如果您使用``conda``创建虚拟环境，请确保在运行脚本之前激活该环境。举个例子：" + +#: ../../source/setup/installation/binaries_installation.rst:198 +msgid "" +"Once you are in the virtual environment, you do not need to use " +"``./isaaclab.sh -p`` / ``isaaclab.bat -p`` to run python scripts. You can " +"use the default python executable in your environment by running ``python`` " +"or ``python3``. However, for the rest of the documentation, we will assume " +"that you are using ``./isaaclab.sh -p`` / ``isaaclab.bat -p`` to run python " +"scripts. This command is equivalent to running ``python`` or ``python3`` in " +"your virtual environment." +msgstr "" +"一旦您进入虚拟环境，您就不需要使用``./isaaclab.sh -p`` / ``isaaclab.bat " +"-p``来运行Python脚本。您可以使用环境中的默认Python可执行文件，即通过运行``python``或``python3``。不过，在接下来的文档中，我们将假设您使用``./isaaclab.sh" +" -p`` / ``isaaclab.bat " +"-p``来运行Python脚本。这条命令相当于在您的虚拟环境中运行``python``或``python3``。" + +#: ../../source/setup/installation/binaries_installation.rst:206 +msgid "Installation" +msgstr "安装" + +#: ../../source/setup/installation/binaries_installation.rst:208 +msgid "Install dependencies using ``apt`` (on Linux only):" +msgstr "使用``apt``来安装依赖（仅适用于Linux）：" + +#: ../../source/setup/installation/binaries_installation.rst:215 +msgid "" +"Run the install command that iterates over all the extensions in " +"``source/extensions`` directory and installs them using pip (with " +"``--editable`` flag):" +msgstr "" +"运行安装命令，遍历``source/extensions``目录中的所有扩展，同时使用带有``--editable``标志的pip进行安装：" + +#: ../../source/setup/installation/binaries_installation.rst:237 +msgid "" +"By default, the above will install all the learning frameworks. If you want " +"to install only a specific framework, you can pass the name of the framework" +" as an argument. For example, to install only the ``rl_games`` framework, " +"you can run" +msgstr "" +"上述代码将按默认设置安装所有学习框架。如果您想只安装特定框架，可以将框架的名称作为参数传递。例如，为了只安装``rl_games``框架，您可以运行" + +#: ../../source/setup/installation/binaries_installation.rst:257 +msgid "" +"The valid options are ``rl_games``, ``rsl_rl``, ``sb3``, ``skrl``, " +"``robomimic``, ``none``." +msgstr "有效选项有``rl_games``、``rsl_rl``、``sb3``、``skrl``、``robomimic``、``none``。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/cloud_installation.po b/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/cloud_installation.po new file mode 100644 index 0000000000..976037aac4 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/cloud_installation.po @@ -0,0 +1,192 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/setup/installation/cloud_installation.rst:2 +msgid "Running Isaac Lab in the Cloud" +msgstr "在云中运行Isaac Lab" + +#: ../../source/setup/installation/cloud_installation.rst:4 +msgid "" +"Isaac Lab can be run in various cloud infrastructures with the use of `Isaac" +" Automator `__. Isaac Automator" +" allows for quick deployment of Isaac Sim and Isaac Lab onto the public " +"clouds (AWS, GCP, Azure, and Alibaba Cloud are currently supported)." +msgstr "" +"Isaac Lab可以在各种云基础架构中运行，使用 `Isaac Automator `__。 Isaac Automator可以快速部署Isaac Sim和Isaac " +"Lab到公共云（目前支持AWS，GCP，Azure和阿里云）。" + +#: ../../source/setup/installation/cloud_installation.rst:7 +msgid "" +"The result is a fully configured remote desktop cloud workstation, which can" +" be used for development and testing of Isaac Lab within minutes and on a " +"budget. Isaac Automator supports variety of GPU instances and stop-start " +"functionality to save on cloud costs and a variety of tools to aid the " +"workflow (like uploading and downloading data, autorun, deployment " +"management, etc)." +msgstr "" +"结果是一个完全配置的远程桌面云工作站，可用于Isaac Lab的开发和测试，只需几分钟和有限预算。 Isaac " +"Automator支持各种GPU实例，还支持停止和启动功能以节省云成本以及各种工具（如上传和下载数据，自动运行，部署管理等）来辅助工作流程。" + +#: ../../source/setup/installation/cloud_installation.rst:11 +msgid "Installing Isaac Automator" +msgstr "安装Isaac Automator" + +#: ../../source/setup/installation/cloud_installation.rst:13 +msgid "" +"For the most update-to-date and complete installation instructions, please " +"refer to `Isaac Automator `__." +msgstr "" +"有关最新和完整的安装说明，请参阅 `Isaac Automator `__。" + +#: ../../source/setup/installation/cloud_installation.rst:15 +msgid "To use Isaac Automator, first clone the repo:" +msgstr "要使用Isaac Automator，首先克隆库：" + +#: ../../source/setup/installation/cloud_installation.rst:21 +msgid "" +"Isaac Automator requires having ``docker`` pre-installed on the system." +msgstr "Isaac Automator需要预先在系统上安装``docker``。" + +#: ../../source/setup/installation/cloud_installation.rst:23 +msgid "" +"To install Docker, please follow the instructions for your operating system " +"on the `Docker website`_." +msgstr "要安装Docker，请按照`Docker网站`_上的操作系统说明进行操作。" + +#: ../../source/setup/installation/cloud_installation.rst:24 +msgid "" +"Follow the post-installation steps for Docker on the `post-installation " +"steps`_ page. These steps allow you to run Docker without using ``sudo``." +msgstr "" +"按照`post-installation steps`_页面上的后续安装步骤。 这些步骤允许您在不使用``sudo``的情况下运行Docker。" + +#: ../../source/setup/installation/cloud_installation.rst:27 +msgid "Isaac Automator also requires obtaining a NGC API key." +msgstr "Isaac Automator还需要获取NGC API密钥。" + +#: ../../source/setup/installation/cloud_installation.rst:29 +msgid "" +"Get access to the `Isaac Sim container`_ by joining the NVIDIA Developer " +"Program credentials." +msgstr "通过加入NVIDIA Developer Program认证来访问`Isaac Sim container`_。" + +#: ../../source/setup/installation/cloud_installation.rst:30 +msgid "" +"Generate your `NGC API key`_ to access locked container images from NVIDIA " +"GPU Cloud (NGC)." +msgstr "生成您的`NGC API密钥`_以访问NVIDIA GPU云（NGC）中的锁定容器图像。" + +#: ../../source/setup/installation/cloud_installation.rst:32 +msgid "" +"This step requires you to create an NGC account if you do not already have " +"one." +msgstr "此步骤要求您如有需要创建一个NGC帐户。" + +#: ../../source/setup/installation/cloud_installation.rst:33 +msgid "" +"Once you have your generated API key, you need to log in to NGC from the " +"terminal." +msgstr "生成API密钥后，您需要从终端登录到NGC。" + +#: ../../source/setup/installation/cloud_installation.rst:40 +msgid "" +"For the username, enter ``$oauthtoken`` exactly as shown. It is a special " +"username that is used to authenticate with NGC." +msgstr "对于用户名，输入``$oauthtoken``，如图所示。 这是一个特殊用户名，用于与NGC进行身份验证。" + +#: ../../source/setup/installation/cloud_installation.rst:50 +msgid "Running Isaac Automator" +msgstr "运行Isaac Automator" + +#: ../../source/setup/installation/cloud_installation.rst:52 +msgid "To run Isaac Automator, first build the Isaac Automator container:" +msgstr "要运行Isaac Automator，首先构建Isaac Automator容器：" + +#: ../../source/setup/installation/cloud_installation.rst +msgid ":icon:`fa-brands fa-linux` Linux" +msgstr ":icon:`fa-brands fa-linux` Linux" + +#: ../../source/setup/installation/cloud_installation.rst +msgid ":icon:`fa-brands fa-windows` Windows" +msgstr ":icon:`fa-brands fa-windows` Windows" + +#: ../../source/setup/installation/cloud_installation.rst:71 +msgid "Next, enter the automator container:" +msgstr "接下来，输入自动化容器：" + +#: ../../source/setup/installation/cloud_installation.rst:90 +msgid "Next, run the deployed script for your preferred cloud:" +msgstr "接下来，运行您首选云的部署脚本：" + +#: ../../source/setup/installation/cloud_installation.rst:103 +msgid "" +"Follow the prompts for entering information regarding the environment setup " +"and credentials. Once successful, instructions for connecting to the cloud " +"instance will be available in the terminal. Connections can be made using " +"SSH, noVCN, or NoMachine." +msgstr "" +"按照有关环境设置和凭据的信息输入提示。 成功后，连接到云实例的说明将在终端中提供。 可以使用SSH，noVCN或NoMachine进行连接。" + +#: ../../source/setup/installation/cloud_installation.rst:107 +msgid "" +"For details on the credentials and setup required for each cloud, please " +"visit the `Isaac Automator `__ page for more " +"instructions." +msgstr "" +"有关每个云所需的凭据和设置的详细信息，请访问 `Isaac Automator `__ 页面以获取更多说明。" + +#: ../../source/setup/installation/cloud_installation.rst:113 +msgid "Running Isaac Lab on the Cloud" +msgstr "在云中运行Isaac Lab" + +#: ../../source/setup/installation/cloud_installation.rst:115 +msgid "" +"Once connected to the cloud instance, the desktop will have an icon showing " +"``isaaclab.sh``. Launch the ``isaaclab.sh`` executable, which will open a " +"new Terminal. Within the terminal, Isaac Lab commands can be executed in the" +" same way as running locally." +msgstr "" +"连接到云实例后，桌面将显示一个显示 ``isaaclab.sh`` 的图标。 运行 ``isaaclab.sh`` 可执行文件，这将打开一个新的终端。" +" 在终端中，Isaac Lab命令可以与本地执行相同的方式执行。" + +#: ../../source/setup/installation/cloud_installation.rst:119 +msgid "For example:" +msgstr "例如：" + +#: ../../source/setup/installation/cloud_installation.rst:140 +msgid "Destroying a Development" +msgstr "销毁开发" + +#: ../../source/setup/installation/cloud_installation.rst:142 +msgid "" +"To save costs, deployments can be destroyed when not being used. This can be" +" done from within the Automator container, which can be entered with command" +" ``./run``." +msgstr "为了节省成本，可以在不使用时销毁部署。 这可以通过进入“运行”命令的自动化容器来完成。" + +#: ../../source/setup/installation/cloud_installation.rst:145 +msgid "To destroy a deployment, run:" +msgstr "销毁部署，运行：" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/index.po b/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/index.po new file mode 100644 index 0000000000..12609f9b14 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/index.po @@ -0,0 +1,83 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/setup/installation/index.rst:39 +msgid "Installation using Isaac Sim pip (experimental)" +msgstr "使用 Isaac Sim pip 进行安装（试验性）" + +#: ../../source/setup/installation/index.rst:2 +msgid "Installation Guide" +msgstr "安装指南" + +#: ../../source/setup/installation/index.rst:-1 +msgid "IsaacSim 4.0" +msgstr "IsaacSim 4.0" + +#: ../../source/setup/installation/index.rst:-1 +msgid "Python 3.10" +msgstr "Python 3.10" + +#: ../../source/setup/installation/index.rst:-1 +msgid "Ubuntu 20.04" +msgstr "Ubuntu 20.04" + +#: ../../source/setup/installation/index.rst:-1 +msgid "Windows 11" +msgstr "Windows 11" + +#: ../../source/setup/installation/index.rst:22 +msgid "" +"We have dropped support for Isaac Sim versions 2023.1.0 and below. We " +"recommend using the latest Isaac Sim 4.0 release to benefit from the latest " +"features and improvements." +msgstr "" +"我们已停止支持 Isaac Sim 版本 2023.1.0 及以下版本。我们建议使用最新的 Isaac Sim 4.0 发行版以获得最新的功能和改进。" + +#: ../../source/setup/installation/index.rst:25 +msgid "" +"For more information, please refer to the `Isaac Sim release notes " +"`__." +msgstr "" +"有关更多信息，请参阅 `Isaac Sim 发布说明 " +"`__。" + +#: ../../source/setup/installation/index.rst:30 +msgid "" +"We recommend system requirements with at least 32GB RAM and 16GB VRAM for " +"Isaac Lab. For the full list of system requirements for Isaac Sim, please " +"refer to the `Isaac Sim system requirements " +"`_." +msgstr "" +"我们建议系统要求至少具备 32GB RAM 和 16GB VRAM 以支持 Isaac Lab。有关 Isaac Sim 的完整系统要求列表，请参阅 " +"`Isaac Sim 系统要求 " +"`_。" + +#: ../../source/setup/installation/index.rst:34 +msgid "" +"As an experimental feature in Isaac Sim 4.0 release, Isaac Sim can also be " +"installed through pip. This simplifies the installation process by avoiding " +"the need to download the Omniverse Launcher and installing Isaac Sim through" +" the launcher. Therefore, there are two ways to install Isaac Lab:" +msgstr "" +"作为 Isaac Sim 4.0 发行版的试验性功能，Isaac Sim 也可以通过 pip 进行安装。这简化了安装过程，避免了通过启动器下载和安装 " +"Isaac Sim。因此，有两种安装 Isaac Lab 的方式：" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/pip_installation.po b/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/pip_installation.po new file mode 100644 index 0000000000..023b7455d4 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/pip_installation.po @@ -0,0 +1,160 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/setup/installation/pip_installation.rst:2 +msgid "Installation using Isaac Sim pip" +msgstr "使用 Isaac Sim pip 进行安装" + +#: ../../source/setup/installation/pip_installation.rst:6 +msgid "Installing Isaac Sim" +msgstr "安装 Isaac Sim" + +#: ../../source/setup/installation/pip_installation.rst:10 +msgid "" +"Installing Isaac Sim from pip is currently an experimental feature. If " +"errors occur, please report them to the `Isaac Sim Forums " +"`_ " +"and install Isaac Sim from pre-built binaries." +msgstr "" +"从 pip 安装 Isaac Sim 目前是一个实验性功能。如果出现错误，请向 `Isaac Sim Forums " +"`_ " +"报告，并从预构建的二进制文件安装 Isaac Sim。" + +#: ../../source/setup/installation/pip_installation.rst:17 +msgid "" +"Installing Isaac Sim with pip requires GLIBC 2.34+ version compatibility. To" +" check the GLIBC version on your system, use command ``ldd --version``." +msgstr "" +"使用 pip 安装 Isaac Sim 需要 GLIBC 2.34+ 版本兼容性。要检查系统上的 GLIBC 版本，请使用命令 ``ldd " +"--version``。" + +#: ../../source/setup/installation/pip_installation.rst:21 +msgid "" +"To use the pip installation approach for Isaac Sim, we recommend first " +"creating a virtual environment. Ensure that the python version of the " +"virtual environment is **Python 3.10**." +msgstr "" +"为了使用 Isaac Sim 的 pip 安装方法，建议首先创建一个虚拟环境。确保虚拟环境的 python 版本是 **Python 3.10**。" + +#: ../../source/setup/installation/pip_installation.rst +msgid "conda environment" +msgstr "conda 环境" + +#: ../../source/setup/installation/pip_installation.rst +msgid "venv environment" +msgstr "venv 环境" + +#: ../../source/setup/installation/pip_installation.rst +msgid ":icon:`fa-brands fa-linux` Linux" +msgstr ":icon:`fa-brands fa-linux` Linux" + +#: ../../source/setup/installation/pip_installation.rst +msgid ":icon:`fa-brands fa-windows` Windows" +msgstr ":icon:`fa-brands fa-windows` Windows" + +#: ../../source/setup/installation/pip_installation.rst:59 +msgid "" +"Next, install a CUDA-enabled PyTorch 2.2.2 build based on the CUDA version " +"available on your system." +msgstr "接下来，根据系统上可用的 CUDA 版本，安装支持 CUDA 的 PyTorch 2.2.2 构建。" + +#: ../../source/setup/installation/pip_installation.rst +msgid "CUDA 11" +msgstr "CUDA 11" + +#: ../../source/setup/installation/pip_installation.rst +msgid "CUDA 12" +msgstr "CUDA 12" + +#: ../../source/setup/installation/pip_installation.rst:76 +msgid "Then, install the Isaac Sim packages necessary for running Isaac Lab:" +msgstr "然后，安装运行 Isaac Lab 所需的 Isaac Sim 包：" + +#: ../../source/setup/installation/pip_installation.rst:84 +msgid "Installing Isaac Lab" +msgstr "安装 Isaac Lab" + +#: ../../source/setup/installation/pip_installation.rst:87 +msgid "Cloning Isaac Lab" +msgstr "克隆 Isaac Lab" + +#: ../../source/setup/installation/pip_installation.rst:91 +msgid "" +"We recommend making a `fork `_ " +"of the Isaac Lab repository to contribute to the project but this is not " +"mandatory to use the framework. If you make a fork, please replace ``isaac-" +"sim`` with your username in the following instructions." +msgstr "" +"我们建议制作一个 `fork `_ Isaac Lab " +"仓库来贡献项目，但这不是使用框架的必要条件。如果您制作了一个 fork，请在以下说明中用您的用户名替换 ``isaac-sim``。" + +#: ../../source/setup/installation/pip_installation.rst:96 +msgid "Clone the Isaac Lab repository into your workspace:" +msgstr "将 Isaac Lab 仓库克隆到您的工作空间：" + +#: ../../source/setup/installation/pip_installation.rst +msgid "SSH" +msgstr "SSH" + +#: ../../source/setup/installation/pip_installation.rst +msgid "HTTPS" +msgstr "HTTPS" + +#: ../../source/setup/installation/pip_installation.rst:114 +msgid "" +"We provide a helper executable `isaaclab.sh `_ that provides utilities to manage " +"extensions:" +msgstr "" +"我们提供一个辅助可执行文件 `isaaclab.sh `_，提供管理扩展的实用工具：" + +#: ../../source/setup/installation/pip_installation.rst:162 +msgid "Installation" +msgstr "安装" + +#: ../../source/setup/installation/pip_installation.rst:164 +msgid "Install dependencies using ``apt`` (on Ubuntu):" +msgstr "使用 ``apt`` 安装依赖项（在 Ubuntu 上）：" + +#: ../../source/setup/installation/pip_installation.rst:170 +msgid "" +"Run the install command that iterates over all the extensions in " +"``source/extensions`` directory and installs them using pip (with " +"``--editable`` flag):" +msgstr "" +"运行安装命令，遍历 ``source/extensions`` 目录中的所有扩展，并使用 pip（带有 ``--editable`` 标志）进行安装：" + +#: ../../source/setup/installation/pip_installation.rst:192 +msgid "" +"By default, this will install all the learning frameworks. If you want to " +"install only a specific framework, you can pass the name of the framework as" +" an argument. For example, to install only the ``rl_games`` framework, you " +"can run" +msgstr "" +"默认情况下，这将安装所有学习框架。如果您只想安装特定框架，请将框架的名称作为参数传递。例如，要仅安装 ``rl_games`` 框架，您可以运行" + +#: ../../source/setup/installation/pip_installation.rst:212 +msgid "" +"The valid options are ``rl_games``, ``rsl_rl``, ``sb3``, ``skrl``, " +"``robomimic``, ``none``." +msgstr "" +"有效选项为 ``rl_games``、``rsl_rl``、``sb3``、``skrl``、``robomimic``、``none``。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/verifying_installation.po b/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/verifying_installation.po new file mode 100644 index 0000000000..f4fb2a22e6 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/setup/installation/verifying_installation.po @@ -0,0 +1,147 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/setup/installation/verifying_installation.rst:2 +msgid "Verifying the Installation" +msgstr "验证安装" + +#: ../../source/setup/installation/verifying_installation.rst:6 +msgid "Verifying the Isaac Sim installation" +msgstr "验证Isaac Sim安装" + +#: ../../source/setup/installation/verifying_installation.rst:9 +msgid "Isaac Sim installed from pip" +msgstr "通过pip安装了Isaac Sim" + +#: ../../source/setup/installation/verifying_installation.rst:11 +msgid "Make sure that your virtual environment is activated (if applicable)" +msgstr "确保您的虚拟环境已激活（如果适用）" + +#: ../../source/setup/installation/verifying_installation.rst:14 +#: ../../source/setup/installation/verifying_installation.rst:91 +msgid "Check that the simulator runs as expected:" +msgstr "检查模拟器是否按预期运行：" + +#: ../../source/setup/installation/verifying_installation.rst:21 +msgid "By default, this will launch an empty mini Kit window." +msgstr "默认情况下，这将启动一个空的迷你套件窗口。" + +#: ../../source/setup/installation/verifying_installation.rst:23 +msgid "To run with a specific experience file, run:" +msgstr "要使用特定体验文件运行：" + +#: ../../source/setup/installation/verifying_installation.rst:33 +msgid "" +"When running Isaac Sim for the first time, all dependent extensions will be " +"pulled from the registry. This process can take upwards of 10 minutes and is" +" required on the first run of each experience file. Once the extensions are " +"pulled, consecutive runs using the same experience file will use the cached " +"extensions." +msgstr "" +"第一次运行Isaac " +"Sim时，将从注册表中提取所有依赖扩展。此过程可能需要长达10分钟，并且在每个体验文件的首次运行时是必需的。扩展被提取后，使用相同的体验文件进行连续运行将使用缓存的扩展。" + +#: ../../source/setup/installation/verifying_installation.rst:37 +msgid "" +"In addition, the first run will prompt users to accept the Nvidia Omniverse " +"License Agreement. To accept the EULA, reply ``Yes`` when prompted with the " +"below message:" +msgstr "此外，第一次运行将提示用户接受Nvidia Omniverse许可协议。要接受EULA，请在下面的消息提示时回复``Yes``：" + +#: ../../source/setup/installation/verifying_installation.rst:48 +#: ../../source/setup/installation/verifying_installation.rst:159 +msgid "" +"If the simulator does not run or crashes while following the above " +"instructions, it means that something is incorrectly configured. To debug " +"and troubleshoot, please check Isaac Sim `documentation " +"`__ and the `forums " +"`__." +msgstr "" +"如果在按上述说明运行模拟器时模拟器无法运行或崩溃，则意味着某些配置不正确。要进行调试和故障排除，请查看Isaac Sim `文档 " +"`__ 和 `论坛 " +"`__。" + +#: ../../source/setup/installation/verifying_installation.rst:57 +msgid "Isaac Sim installed from binaries" +msgstr "通过二进制安装了Isaac Sim" + +#: ../../source/setup/installation/verifying_installation.rst:59 +msgid "" +"To avoid the overhead of finding and locating the Isaac Sim installation " +"directory every time, we recommend exporting the following environment " +"variables to your terminal for the remaining of the installation " +"instructions:" +msgstr "为了避免每次查找和定位Isaac Sim安装目录的开销，我们建议将以下环境变量导出到您的终端，以完成剩余的安装说明：" + +#: ../../source/setup/installation/verifying_installation.rst +msgid ":icon:`fa-brands fa-linux` Linux" +msgstr ":icon:`fa-brands fa-linux` Linux" + +#: ../../source/setup/installation/verifying_installation.rst +msgid ":icon:`fa-brands fa-windows` Windows" +msgstr ":icon:`fa-brands fa-windows` Windows" + +#: ../../source/setup/installation/verifying_installation.rst:87 +msgid "" +"For more information on common paths, please check the Isaac Sim " +"`documentation " +"`__." +msgstr "" +"有关常见路径的更多信息，请查看Isaac Sim `文档 " +"`__。" + +#: ../../source/setup/installation/verifying_installation.rst:113 +msgid "Check that the simulator runs from a standalone python script:" +msgstr "检查模拟器是否可以从独立的python脚本运行：" + +#: ../../source/setup/installation/verifying_installation.rst:141 +msgid "" +"If you have been using a previous version of Isaac Sim, you need to run the " +"following command for the *first* time after installation to remove all the " +"old user data and cached variables:" +msgstr "如果您之前使用过Isaac Sim的旧版本，则需要在安装后*第一次*运行以下命令，以删除所有旧用户数据和缓存变量：" + +#: ../../source/setup/installation/verifying_installation.rst:168 +msgid "Verifying the Isaac Lab installation" +msgstr "验证Isaac Lab安装" + +#: ../../source/setup/installation/verifying_installation.rst:170 +msgid "" +"To verify that the installation was successful, run the following command " +"from the top of the repository:" +msgstr "要验证安装是否成功，请从存储库顶部运行以下命令：" + +#: ../../source/setup/installation/verifying_installation.rst:201 +msgid "" +"The above command should launch the simulator and display a window with a " +"black ground plane. You can exit the script by pressing ``Ctrl+C`` on your " +"terminal. On Windows machines, please terminate the process from Command " +"Prompt using ``Ctrl+Break`` or ``Ctrl+fn+B``." +msgstr "" +"上述命令应该启动模拟器，并显示一个带有黑色地面平面的窗口。您可以通过在终端上按``Ctrl+C``来退出脚本。在Windows机器上，请使用``Ctrl+Break``或``Ctrl+fn+B``在命令提示符中终止进程。" + +#: ../../source/setup/installation/verifying_installation.rst:206 +msgid "If you see this, then the installation was successful! |:tada:|" +msgstr "如果您看到这个，那么安装成功了！ |:tada:|" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/setup/sample.po b/docs/locale/zh_CN/LC_MESSAGES/source/setup/sample.po new file mode 100644 index 0000000000..df1a09ce6d --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/setup/sample.po @@ -0,0 +1,247 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 12:43+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/setup/sample.rst:2 +msgid "Running Existing Scripts" +msgstr "运行现有脚本" + +#: ../../source/setup/sample.rst:5 +msgid "Showroom" +msgstr "展厅" + +#: ../../source/setup/sample.rst:7 +msgid "" +"The main core interface extension in Isaac Lab ``omni.isaac.lab`` provides " +"the main modules for actuators, objects, robots and sensors. We provide a " +"list of demo scripts and tutorials. These showcase how to use the provided " +"interfaces within a code in a minimal way." +msgstr "" +"Isaac " +"Lab中的主要核心接口扩展``omni.isaac.lab``提供了执行器、对象、机器人和传感器的主要模块。我们提供了一系列演示脚本和教程。这些展示了如何以最简化的方式在代码中使用提供的接口。" + +#: ../../source/setup/sample.rst:12 +msgid "A few quick showroom scripts to run and checkout:" +msgstr "一些快速展厅脚本可供运行和查看：" + +#: ../../source/setup/sample.rst:14 +msgid "" +"Spawn different quadrupeds and make robots stand using position commands:" +msgstr "产生不同的四足动物，并使用位置命令使机器人站立：" + +#: ../../source/setup/sample.rst:20 +msgid "Spawn different arms and apply random joint position commands:" +msgstr "产生不同的机械臂，并施加随机关节位置命令：" + +#: ../../source/setup/sample.rst:26 +msgid "Spawn different hands and command them to open and close:" +msgstr "产生不同的手部并命令它们打开和关闭：" + +#: ../../source/setup/sample.rst:32 +msgid "Spawn procedurally generated terrains with different configurations:" +msgstr "生成不同配置的过程生成地形：" + +#: ../../source/setup/sample.rst:38 +msgid "Spawn multiple markers that are useful for visualizations:" +msgstr "产生对可视化有用的多个标记：" + +#: ../../source/setup/sample.rst:45 +msgid "Workflows" +msgstr "工作流" + +#: ../../source/setup/sample.rst:47 +msgid "" +"With Isaac Lab, we also provide a suite of benchmark environments included " +"in the ``omni.isaac.lab_tasks`` extension. We use the OpenAI Gym registry to" +" register these environments. For each environment, we provide a default " +"configuration file that defines the scene, observations, rewards and action " +"spaces." +msgstr "" +"使用Isaac Lab，我们还提供了包含在``omni.isaac.lab_tasks``扩展中的一套基准环境。我们使用OpenAI " +"Gym注册表来注册这些环境。对于每个环境，我们提供一个默认配置文件，定义了场景、观察、奖励和动作空间。" + +#: ../../source/setup/sample.rst:52 +msgid "" +"The list of environments available registered with OpenAI Gym can be found " +"by running:" +msgstr "可以通过运行下面的命令找到已在OpenAI Gym注册的环境列表：" + +#: ../../source/setup/sample.rst:60 +msgid "Basic agents" +msgstr "基本代理" + +#: ../../source/setup/sample.rst:62 +msgid "" +"These include basic agents that output zero or random agents. They are " +"useful to ensure that the environments are configured correctly." +msgstr "这些包括输出零或随机代理的基本代理。它们有助于确保环境配置正确。" + +#: ../../source/setup/sample.rst:65 +msgid "Zero-action agent on the Cart-pole example" +msgstr "调试杆示例上的零动作代理" + +#: ../../source/setup/sample.rst:71 +msgid "Random-action agent on the Cart-pole example:" +msgstr "调试杆示例上的随机动作代理：" + +#: ../../source/setup/sample.rst:79 +msgid "State machine" +msgstr "状态机" + +#: ../../source/setup/sample.rst:81 +msgid "" +"We include examples on hand-crafted state machines for the environments. " +"These help in understanding the environment and how to use the provided " +"interfaces. The state machines are written in `warp " +"`__ which allows efficient execution for " +"large number of environments using CUDA kernels." +msgstr "" +"我们包括手工制作的状态机示例，用于环境。这有助于理解环境以及如何使用提供的接口。状态机是用 `Warp " +"`__ 编写的，它允许使用CUDA核函数对大量环境进行有效执行。" + +#: ../../source/setup/sample.rst:92 +msgid "Teleoperation" +msgstr "远程操作" + +#: ../../source/setup/sample.rst:94 +msgid "" +"We provide interfaces for providing commands in SE(2) and SE(3) space for " +"robot control. In case of SE(2) teleoperation, the returned command is the " +"linear x-y velocity and yaw rate, while in SE(3), the returned command is a " +"6-D vector representing the change in pose." +msgstr "" +"我们提供接口，用于在机器人控制中提供SE(2)和SE(3)空间的命令。在SE(2)远程操作的情况下，返回的命令是线性x-" +"y速度和偏航速率，而在SE(3)远程操作的情况下，返回的命令是表示姿势变化的6-D向量。" + +#: ../../source/setup/sample.rst:99 +msgid "To play inverse kinematics (IK) control with a keyboard device:" +msgstr "使用键盘设备进行逆运动学（IK）控制：" + +#: ../../source/setup/sample.rst:105 +msgid "" +"The script prints the teleoperation events configured. For keyboard, these " +"are as follows:" +msgstr "该脚本打印了配置的远程操作事件。对于键盘，这些是如下所示：" + +#: ../../source/setup/sample.rst:121 +msgid "Imitation Learning" +msgstr "模仿学习" + +#: ../../source/setup/sample.rst:123 +msgid "" +"Using the teleoperation devices, it is also possible to collect data for " +"learning from demonstrations (LfD). For this, we support the learning " +"framework `Robomimic `__ (Linux only) and " +"allow saving data in `HDF5 " +"`__ format." +msgstr "" +"使用远程操作设备，还可以收集学习自示范（LfD）的数据。为此，我们支持学习框架 `Robomimic " +"`__（仅限Linux），并允许以 `HDF5 " +"`__ 格式保存数据。" + +#: ../../source/setup/sample.rst:130 +msgid "" +"Collect demonstrations with teleoperation for the environment ``Isaac-Lift-" +"Cube-Franka-IK-Rel-v0``:" +msgstr "为环境``Isaac-Lift-Cube-Franka-IK-Rel-v0``收集远程操作的演示：" + +#: ../../source/setup/sample.rst:140 +msgid "Split the dataset into train and validation set:" +msgstr "将数据集分割为训练集和验证集：" + +#: ../../source/setup/sample.rst:151 +msgid "" +"Train a BC agent for ``Isaac-Lift-Cube-Franka-IK-Rel-v0`` with `Robomimic " +"`__:" +msgstr "" +"使用 `Robomimic `__ 为``Isaac-Lift-Cube-Franka-" +"IK-Rel-v0``训练BC代理：" + +#: ../../source/setup/sample.rst:158 +msgid "Play the learned model to visualize results:" +msgstr "播放学习模型以可视化结果：" + +#: ../../source/setup/sample.rst:165 +msgid "Reinforcement Learning" +msgstr "强化学习" + +#: ../../source/setup/sample.rst:167 +msgid "" +"We provide wrappers to different reinforcement libraries. These wrappers " +"convert the data from the environments into the respective libraries " +"function argument and return types." +msgstr "我们提供不同增强型库的包装器。这些包装器将环境中的数据转换为相应的库函数参数和返回类型。" + +#: ../../source/setup/sample.rst:170 +msgid "" +"Training an agent with `Stable-Baselines3 `__ on ``Isaac-Cartpole-v0``:" +msgstr "" +"使用`Stable-Baselines3 `__在``Isaac-" +"Cartpole-v0``上训练代理：" + +#: ../../source/setup/sample.rst:184 +msgid "" +"Training an agent with `SKRL `__ on ``Isaac-" +"Reach-Franka-v0``:" +msgstr "" +"使用`SKRL `__在``Isaac-Reach-Franka-v0``上训练一个代理：" + +#: ../../source/setup/sample.rst +msgid "PyTorch" +msgstr "PyTorch" + +#: ../../source/setup/sample.rst +msgid "JAX" +msgstr "JAX" + +#: ../../source/setup/sample.rst:213 +msgid "" +"Training an agent with `RL-Games `__ on" +" ``Isaac-Ant-v0``:" +msgstr "" +"使用``Isaac-Ant-v0``上的`RL-Games " +"`__训练一个代理：" + +#: ../../source/setup/sample.rst:225 +msgid "" +"Training an agent with `RSL-RL `__" +" on ``Isaac-Reach-Franka-v0``:" +msgstr "" +"使用``Isaac-Reach-Franka-v0``上的`RSL-RL " +"`__训练一个代理：" + +#: ../../source/setup/sample.rst:237 +msgid "" +"All the scripts above log the training progress to `Tensorboard`_ in the " +"``logs`` directory in the root of the repository. The logs directory follows" +" the pattern ``logs///``, where ```` is " +"the name of the learning framework, ```` is the task name, and " +"```` is the timestamp at which the training script was executed." +msgstr "" +"上述所有脚本都会将训练进度记录到存储库根目录下``log``目录中的`Tensorboard`_中。``log``目录遵循模式``logs/<库>/<任务>/<日期-" +"时间>``,其中``<库>``是学习框架的名称，``<任务>``是任务名称，``<日期-时间>``是执行训练脚本时的时间戳。" + +#: ../../source/setup/sample.rst:242 +msgid "To view the logs, run:" +msgstr "要查看日志，请运行:" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/setup/template.po b/docs/locale/zh_CN/LC_MESSAGES/source/setup/template.po new file mode 100644 index 0000000000..bff23693ce --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/setup/template.po @@ -0,0 +1,80 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/setup/template.rst:2 +msgid "Building your Own Project" +msgstr "建立您自己的项目" + +#: ../../source/setup/template.rst:4 +msgid "" +"Traditionally, building new projects that utilize Isaac Lab's features " +"required creating your own extensions within the Isaac Lab repository. " +"However, this approach can obscure project visibility and complicate updates" +" from one version of Isaac Lab to another. To circumvent these challenges, " +"we now provide a pre-configured and customizable `extension template " +"`_ for creating " +"projects in an isolated environment." +msgstr "" +"传统上，构建利用Isaac Lab功能的新项目需要在Isaac " +"Lab存储库中创建自己的扩展。然而，这种方法可能会模糊项目的可见性，并使得从一个版本的Isaac " +"Lab到另一个版本的更新变得复杂。为了规避这些挑战，我们现在提供了一个预配置的和可定制的“扩展模板`_，用于在隔离的环境中创建项目。" + +#: ../../source/setup/template.rst:10 +msgid "This template serves three distinct use cases:" +msgstr "这个模板包含三个不同的用例：" + +#: ../../source/setup/template.rst:12 +msgid "" +"**Project Template**: Provides essential access to Isaac Sim and Isaac Lab's" +" features, making it ideal for projects that require a standalone " +"environment." +msgstr "**项目模板**：提供对Isaac Sim和Isaac Lab功能的基本访问，使其成为需要独立环境的项目的理想选择。" + +#: ../../source/setup/template.rst:14 +msgid "" +"**Python Package**: Facilitates integration with Isaac Sim's native or " +"virtual Python environment, allowing for the creation of Python packages " +"that can be shared and reused across multiple projects." +msgstr "**Python包**：便于与Isaac Sim的本机或虚拟Python环境集成，允许创建可以在多个项目中共享和重复使用的Python包。" + +#: ../../source/setup/template.rst:16 +msgid "" +"**Omniverse Extension**: Supports direct integration into Omniverse " +"extension workflow." +msgstr "**Omniverse扩展**：支持直接集成到Omniverse扩展工作流程中。" + +#: ../../source/setup/template.rst:20 +msgid "" +"We recommend using the extension template for new projects, as it provides a" +" more streamlined and efficient workflow. Additionally it ensures that your " +"project remains up-to-date with the latest features and improvements in " +"Isaac Lab." +msgstr "" +"我们建议使用扩展模板进行新项目，因为它提供了更简化和高效的工作流程。此外，它确保您的项目始终保持与Isaac Lab中最新功能和改进的同步。" + +#: ../../source/setup/template.rst:25 +msgid "" +"To get started, please follow the instructions in the `extension template " +"repository `_." +msgstr "" +"要开始，请按照`扩展模板存储库中的说明 `_。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/setup/translation.po b/docs/locale/zh_CN/LC_MESSAGES/source/setup/translation.po new file mode 100644 index 0000000000..c4f44d44d1 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/setup/translation.po @@ -0,0 +1,34 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 12:24+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/setup/translation.rst:2 +msgid "About Translation" +msgstr "关于翻译" + +#: ../../source/setup/translation.rst:4 +msgid "Translator: `fan-ziqi `__" +msgstr "翻译者：`fan-ziqi `__" + +#: ../../source/setup/translation.rst:6 +msgid "" +"Translation will be updated on `fan-ziqi/IsaacLab `__" +msgstr "翻译将在 `fan-ziqi/IsaacLab `__ 上更新" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/00_sim/create_empty.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/00_sim/create_empty.po new file mode 100644 index 0000000000..c3963a9ca7 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/00_sim/create_empty.po @@ -0,0 +1,246 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/00_sim/create_empty.rst:2 +msgid "Creating an empty scene" +msgstr "创建一个空场景" + +#: ../../source/tutorials/00_sim/create_empty.rst:6 +msgid "" +"This tutorial shows how to launch and control Isaac Sim simulator from a " +"standalone Python script. It sets up an empty scene in Isaac Lab and " +"introduces the two main classes used in the framework, " +":class:`app.AppLauncher` and :class:`sim.SimulationContext`." +msgstr "" +"本教程展示了如何从独立的Python脚本启动和控制Isaac Sim模拟器。它在Isaac " +"Lab中设置了一个空场景，并介绍了框架中使用的两个主要类，:class:`app.AppLauncher`和:class:`sim.SimulationContext`。" + +#: ../../source/tutorials/00_sim/create_empty.rst:10 +msgid "" +"Please review `Isaac Sim Interface`_ and `Isaac Sim Workflows`_ prior to " +"beginning this tutorial to get an initial understanding of working with the " +"simulator." +msgstr "" +"请在开始本教程之前查看`Isaac Sim Interface`_ 和 `Isaac Sim Workflows`_ ，以对使用模拟器有一个初步的理解。" + +#: ../../source/tutorials/00_sim/create_empty.rst:15 +msgid "The Code" +msgstr "代码" + +#: ../../source/tutorials/00_sim/create_empty.rst:17 +msgid "" +"The tutorial corresponds to the ``create_empty.py`` script in the " +"``source/standalone/tutorials/00_sim`` directory." +msgstr "" +"该教程对应于``source/standalone/tutorials/00_sim```目录中的``create_empty.py``脚本。" + +#: ../../source/tutorials/00_sim/create_empty.rst +msgid "Code for create_empty.py" +msgstr "create_empty.py的代码" + +#: ../../source/tutorials/00_sim/create_empty.rst:29 +msgid "The Code Explained" +msgstr "代码解释" + +#: ../../source/tutorials/00_sim/create_empty.rst:32 +msgid "Launching the simulator" +msgstr "启动模拟器" + +#: ../../source/tutorials/00_sim/create_empty.rst:34 +msgid "" +"The first step when working with standalone Python scripts is to launch the " +"simulation application. This is necessary to do at the start since various " +"dependency modules of Isaac Sim are only available after the simulation app " +"is running." +msgstr "" +"在使用独立的Python脚本时，第一步是启动模拟应用程序。这是必须在开始时做的，因为只有在模拟应用程序运行后，Isaac Sim的各种依赖模块才可用。" + +#: ../../source/tutorials/00_sim/create_empty.rst:38 +msgid "" +"This can be done by importing the :class:`app.AppLauncher` class. This " +"utility class wraps around :class:`omni.isaac.kit.SimulationApp` class to " +"launch the simulator. It provides mechanisms to configure the simulator " +"using command-line arguments and environment variables." +msgstr "" +"这可以通过导入:class:`app.AppLauncher`类来完成。该实用程序类封装了:class:`omni.isaac.kit.SimulationApp`类，以启动模拟器。它提供了使用命令行参数和环境变量配置模拟器的机制。" + +#: ../../source/tutorials/00_sim/create_empty.rst:42 +msgid "" +"For this tutorial, we mainly look at adding the command-line options to a " +"user-defined :class:`argparse.ArgumentParser`. This is done by passing the " +"parser instance to the :meth:`app.AppLauncher.add_app_launcher_args` method," +" which appends different parameters to it. These include launching the app " +"headless, configuring different Livestream options, and enabling off-screen " +"rendering." +msgstr "" +"对于本教程，我们主要关注向用户定义的:class:`argparse.ArgumentParser`添加命令行选项。这是通过将解析器实例传递给:meth:`app.AppLauncher.add_app_launcher_args`方法来完成的，该方法会向其附加不同的参数。这些包括以无头模式启动应用程序，配置不同的实时流选项，并启用无屏幕渲染。" + +#: ../../source/tutorials/00_sim/create_empty.rst:54 +msgid "Importing python modules" +msgstr "导入python模块" + +#: ../../source/tutorials/00_sim/create_empty.rst:56 +msgid "" +"Once the simulation app is running, it is possible to import different " +"Python modules from Isaac Sim and other libraries. Here we import the " +"following module:" +msgstr "一旦模拟应用程序运行，就可以从Isaac Sim和其他库中导入不同的Python模块。在这里，我们导入以下模块：" + +#: ../../source/tutorials/00_sim/create_empty.rst:59 +msgid "" +":mod:`omni.isaac.lab.sim`: A sub-package in Isaac Lab for all the core " +"simulator-related operations." +msgstr ":mod:`omni.isaac.lab.sim`: Isaac Lab中用于所有核心模拟器相关操作的子包。" + +#: ../../source/tutorials/00_sim/create_empty.rst:68 +msgid "Configuring the simulation context" +msgstr "配置模拟上下文" + +#: ../../source/tutorials/00_sim/create_empty.rst:70 +msgid "" +"When launching the simulator from a standalone script, the user has complete" +" control over playing, pausing and stepping the simulator. All these " +"operations are handled through the **simulation context**. It takes care of " +"various timeline events and also configures the `physics scene`_ for " +"simulation." +msgstr "" +"在从独立脚本启动模拟器时，用户完全控制模拟器的播放、暂停和步进。所有这些操作都通过**模拟上下文**处理。它负责各种时间线事件，并且还为模拟配置了`物理场景`_。" + +#: ../../source/tutorials/00_sim/create_empty.rst:75 +msgid "" +"In Isaac Lab, the :class:`sim.SimulationContext` class inherits from Isaac " +"Sim's :class:`omni.isaac.core.simulation_context.SimulationContext` to allow" +" configuring the simulation through Python's ``dataclass`` object and handle" +" certain intricacies of the simulation stepping." +msgstr "" +"在Isaac Lab中，:class:`sim.SimulationContext`类继承自Isaac " +"Sim的:class:`omni.isaac.core.simulation_context.SimulationContext`，以允许通过Python的``dataclass``对象配置模拟并处理模拟推进的某些复杂性。" + +#: ../../source/tutorials/00_sim/create_empty.rst:79 +msgid "" +"For this tutorial, we set the physics and rendering time step to 0.01 " +"seconds. This is done by passing these quantities to the " +":class:`sim.SimulationCfg`, which is then used to create an instance of the " +"simulation context." +msgstr "" +"对于本教程，我们将模拟和渲染时间步长设置为0.01秒。通过将这些数量传递给:class:`sim.SimulationCfg`，然后用它创建模拟环境实例来完成此操作。" + +#: ../../source/tutorials/00_sim/create_empty.rst:89 +msgid "" +"Following the creation of the simulation context, we have only configured " +"the physics acting on the simulated scene. This includes the device to use " +"for simulation, the gravity vector, and other advanced solver parameters. " +"There are now two main steps remaining to run the simulation:" +msgstr "创建模拟上下文后，我们只配置了在模拟场景上的物理作用。这包括用于模拟的设备、重力矢量和其他高级求解器参数。现在剩下两个主要步骤来运行模拟：" + +#: ../../source/tutorials/00_sim/create_empty.rst:93 +msgid "" +"Designing the simulation scene: Adding sensors, robots and other simulated " +"objects" +msgstr "设计模拟场景：添加传感器、机器人和其他模拟对象" + +#: ../../source/tutorials/00_sim/create_empty.rst:94 +msgid "" +"Running the simulation loop: Stepping the simulator, and setting and getting" +" data from the simulator" +msgstr "运行模拟循环：步进模拟器，并设置和获取模拟器中的数据" + +#: ../../source/tutorials/00_sim/create_empty.rst:96 +msgid "" +"In this tutorial, we look at Step 2 first for an empty scene to focus on the" +" simulation control first. In the following tutorials, we will look into " +"Step 1 and working with simulation handles for interacting with the " +"simulator." +msgstr "在本教程中，我们首先查看第2步，以便在一个空场景中首先专注于模拟控制。在接下来的教程中，我们将研究第1步和处理模拟器的模拟句柄以进行交互。" + +#: ../../source/tutorials/00_sim/create_empty.rst:101 +msgid "Running the simulation" +msgstr "运行模拟" + +#: ../../source/tutorials/00_sim/create_empty.rst:103 +msgid "" +"The first thing, after setting up the simulation scene, is to call the " +":meth:`sim.SimulationContext.reset` method. This method plays the timeline " +"and initializes the physics handles in the simulator. It must always be " +"called the first time before stepping the simulator. Otherwise, the " +"simulation handles are not initialized properly." +msgstr "" +"在设置模拟场景后，第一件事是调用:meth:`sim.SimulationContext.reset`方法。该方法播放时间线并初始化模拟器中的物理句柄。在每次模拟器步进之前，这一方法必须始终被调用。否则，模拟器句柄将无法正确地初始化。" + +#: ../../source/tutorials/00_sim/create_empty.rst:110 +msgid "" +":meth:`sim.SimulationContext.reset` is different from " +":meth:`sim.SimulationContext.play` method as the latter only plays the " +"timeline and does not initializes the physics handles." +msgstr "" +":meth:`sim.SimulationContext.reset`与:meth:`sim.SimulationContext.play`方法不同，因为后者仅播放时间线并不初始化物理句柄。" + +#: ../../source/tutorials/00_sim/create_empty.rst:113 +msgid "" +"After playing the simulation timeline, we set up a simple simulation loop " +"where the simulator is stepped repeatedly while the simulation app is " +"running. The method :meth:`sim.SimulationContext.step` takes in as argument " +":attr:`render`, which dictates whether the step includes updating the " +"rendering-related events or not. By default, this flag is set to True." +msgstr "" +"播放模拟时间线后，我们建立了一个简单的模拟循环，其中模拟器在模拟应用程序运行时重复步进。:meth:`sim.SimulationContext.step`方法带有:attr:`render`作为参数，它决定步进是否包括更新与渲染相关的事件。默认情况下，此标志设置为True。" + +#: ../../source/tutorials/00_sim/create_empty.rst:124 +msgid "Exiting the simulation" +msgstr "退出模拟" + +#: ../../source/tutorials/00_sim/create_empty.rst:126 +msgid "" +"Lastly, the simulation application is stopped and its window is closed by " +"calling :meth:`omni.isaac.kit.SimulationApp.close` method." +msgstr "最后，通过调用:meth:`omni.isaac.kit.SimulationApp.close`方法停止模拟应用程序并关闭其窗口。" + +#: ../../source/tutorials/00_sim/create_empty.rst:136 +msgid "The Code Execution" +msgstr "代码执行" + +#: ../../source/tutorials/00_sim/create_empty.rst:138 +msgid "" +"Now that we have gone through the code, let's run the script and see the " +"result:" +msgstr "既然我们已经阅读了代码，让我们运行脚本并查看结果：" + +#: ../../source/tutorials/00_sim/create_empty.rst:145 +msgid "" +"The simulation should be playing, and the stage should be rendering. To stop" +" the simulation, you can either close the window, or press ``Ctrl+C`` in the" +" terminal." +msgstr "模拟应该在进行中，舞台应该正在渲染。要停止模拟，可以关闭窗口或在终端中按``Ctrl+C``。" + +#: ../../source/tutorials/00_sim/create_empty.rst:148 +msgid "" +"Passing ``--help`` to the above script will show the different command-line " +"arguments added earlier by the :class:`app.AppLauncher` class. To run the " +"script headless, you can execute the following:" +msgstr "" +"将``--help``传递给上述脚本将显示:class:`app.AppLauncher`类之前添加的不同命令行参数。要以无头模式运行脚本，可以执行以下操作：" + +#: ../../source/tutorials/00_sim/create_empty.rst:157 +msgid "" +"Now that we have a basic understanding of how to run a simulation, let's " +"move on to the following tutorial where we will learn how to add assets to " +"the stage." +msgstr "既然我们已经对如何运行模拟有了基本的了解，让我们继续下一个教程，我们将学习如何向舞台添加资产。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/00_sim/index.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/00_sim/index.po new file mode 100644 index 0000000000..fb2ffffbd8 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/00_sim/index.po @@ -0,0 +1,35 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/00_sim/index.rst:2 +msgid "Setting up a Simple Simulation" +msgstr "设置一个简单的模拟" + +#: ../../source/tutorials/00_sim/index.rst:4 +msgid "" +"These tutorials show you how to launch the simulation with different " +"settings and spawn objects in the simulated scene. They cover the following " +"APIs: :class:`~omni.isaac.lab.app.AppLauncher`, " +":class:`~omni.isaac.lab.sim.SimulationContext`, and " +":class:`~omni.isaac.lab.sim.spawners`." +msgstr "" +"这些教程演示了如何使用不同设置启动模拟，并在模拟场景中生成对象。 " +"它们涵盖了以下API：:class:`~omni.isaac.lab.app.AppLauncher`，:class:`~omni.isaac.lab.sim.SimulationContext`和:class:`~omni.isaac.lab.sim.spawners`。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/00_sim/launch_app.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/00_sim/launch_app.po new file mode 100644 index 0000000000..47a7841326 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/00_sim/launch_app.po @@ -0,0 +1,239 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/00_sim/launch_app.rst:2 +msgid "Deep-dive into AppLauncher" +msgstr "深度讨论AppLauncher" + +#: ../../source/tutorials/00_sim/launch_app.rst:6 +msgid "" +"In this tutorial, we will dive into the :class:`app.AppLauncher` class to " +"configure the simulator using CLI arguments and environment variables " +"(envars). Particularly, we will demonstrate how to use " +":class:`~app.AppLauncher` to enable livestreaming and configure the " +":class:`omni.isaac.kit.SimulationApp` instance it wraps, while also allowing" +" user-provided options." +msgstr "" +"在本教程中，我们将深入研究:class:`app.AppLauncher`类，以使用CLI参数和环境变量（envars）配置模拟器。特别地，我们将演示如何使用:class:`~app.AppLauncher`来启用实时流并配置其封装的:class:`omni.isaac.kit.SimulationApp`实例，同时允许用户提供的选项。" + +#: ../../source/tutorials/00_sim/launch_app.rst:11 +msgid "" +"The :class:`~app.AppLauncher` is a wrapper for " +":class:`~omni.isaac.kit.SimulationApp` to simplify its configuration. The " +":class:`~omni.isaac.kit.SimulationApp` has many extensions that must be " +"loaded to enable different capabilities, and some of these extensions are " +"order- and inter-dependent. Additionally, there are startup options such as " +"``headless`` which must be set at instantiation time, and which have an " +"implied relationship with some extensions, e.g. the livestreaming " +"extensions. The :class:`~app.AppLauncher` presents an interface that can " +"handle these extensions and startup options in a portable manner across a " +"variety of use cases. To achieve this, we offer CLI and envar flags which " +"can be merged with user-defined CLI args, while passing forward arguments " +"intended for :class:`~omni.isaac.kit.SimulationApp`." +msgstr "" +":class:`~app.AppLauncher`是:class:`~omni.isaac.kit.SimulationApp`的包装器，以简化其配置。:class:`~omni.isaac.kit.SimulationApp`有许多扩展，必须加载才能启用不同的功能，并且其中一些扩展是有顺序和相互依赖的。另外，还有一些启动选项，例如``headless``必须在实例化时设置，这些选项与一些扩展有隐含的关系，例如实时流扩展。:class:`~app.AppLauncher`提供了一个接口，可以以便于跨各种用例便携地处理这些扩展和启动选项。为了实现这一点，我们提供了可以与用户定义的CLI参数合并的CLI和envar标志，同时将用于:class:`~omni.isaac.kit.SimulationApp`的参数传递下去。" + +#: ../../source/tutorials/00_sim/launch_app.rst:23 +msgid "The Code" +msgstr "代码" + +#: ../../source/tutorials/00_sim/launch_app.rst:25 +msgid "" +"The tutorial corresponds to the ``launch_app.py`` script in the " +"``source/standalone/tutorials/00_sim`` directory." +msgstr "本教程对应于``source/standalone/tutorials/00_sim``目录中的``launch_app.py``脚本。" + +#: ../../source/tutorials/00_sim/launch_app.rst +msgid "Code for launch_app.py" +msgstr "launch_app.py的代码" + +#: ../../source/tutorials/00_sim/launch_app.rst:37 +msgid "The Code Explained" +msgstr "代码解释" + +#: ../../source/tutorials/00_sim/launch_app.rst:40 +msgid "Adding arguments to the argparser" +msgstr "向argparser添加参数" + +#: ../../source/tutorials/00_sim/launch_app.rst:42 +msgid "" +":class:`~app.AppLauncher` is designed to be compatible with custom CLI args " +"that users need for their own scripts, while still providing a portable CLI " +"interface." +msgstr ":class:`~app.AppLauncher`设计为与用户自己脚本所需的自定义CLI参数兼容，同时提供一个便携的CLI接口。" + +#: ../../source/tutorials/00_sim/launch_app.rst:45 +msgid "" +"In this tutorial, a standard :class:`argparse.ArgumentParser` is " +"instantiated and given the script-specific ``--size`` argument, as well as " +"the arguments ``--height`` and ``--width``. The latter are ingested by " +":class:`~omni.isaac.kit.SimulationApp`." +msgstr "" +"在本教程中，我们使用标准的:class:`argparse.ArgumentParser`进行实例化，并给予特定于脚本的``--size``参数，以及``--height``和``--width``参数。后者由:class:`~omni.isaac.kit.SimulationApp`接受。" + +#: ../../source/tutorials/00_sim/launch_app.rst:49 +msgid "" +"The argument ``--size`` is not used by :class:`~app.AppLauncher`, but will " +"merge seamlessly with the :class:`~app.AppLauncher` interface. In-script " +"arguments can be merged with the :class:`~app.AppLauncher` interface via the" +" :meth:`~app.AppLauncher.add_app_launcher_args` method, which will return a " +"modified :class:`~argparse.ArgumentParser` with the " +":class:`~app.AppLauncher` arguments appended. This can then be processed " +"into an :class:`argparse.Namespace` using the standard " +":meth:`argparse.ArgumentParser.parse_args` method and passed directly to " +":class:`~app.AppLauncher` for instantiation." +msgstr "" +"参数``--size``不会被:class:`~app.AppLauncher`所使用，但它将无缝地与:class:`~app.AppLauncher`接口合并。可以通过:meth:`~app.AppLauncher.add_app_launcher_args`方法将脚本中的参数与:class:`~app.AppLauncher`接口合并，这将返回一个修改过的:class:`~argparse.ArgumentParser`，其中包含了:class:`~app.AppLauncher`参数。然后可以使用标准的:meth:`argparse.ArgumentParser.parse_args`方法将其处理为:class:`argparse.Namespace`，并直接传递给:class:`~app.AppLauncher`进行实例化。" + +#: ../../source/tutorials/00_sim/launch_app.rst:62 +msgid "" +"The above only illustrates only one of several ways of passing arguments to " +":class:`~app.AppLauncher`. Please consult its documentation page to see " +"further options." +msgstr "以上只是说明了一种向:class:`~app.AppLauncher`传递参数的方法，请参考其文档页面以查看更多选项。" + +#: ../../source/tutorials/00_sim/launch_app.rst:66 +msgid "Understanding the output of --help" +msgstr "了解--help输出" + +#: ../../source/tutorials/00_sim/launch_app.rst:68 +msgid "" +"While executing the script, we can pass the ``--help`` argument and see the " +"combined outputs of the custom arguments and those from " +":class:`~app.AppLauncher`." +msgstr "在执行脚本时，我们可以传递``--help``参数，并查看自定义参数以及来自:class:`~app.AppLauncher`的合并输出。" + +#: ../../source/tutorials/00_sim/launch_app.rst:102 +msgid "" +"This readout details the ``--size``, ``--height``, and ``--width`` arguments" +" defined in the script directly, as well as the :class:`~app.AppLauncher` " +"arguments." +msgstr "" +"这个输出详细说明了脚本直接定义的``--size``、``--height``和``--width``参数，以及:class:`~app.AppLauncher`参数。" + +#: ../../source/tutorials/00_sim/launch_app.rst:105 +msgid "" +"The ``[INFO]`` messages preceding the help output also reads out which of " +"these arguments are going to be interpreted as arguments to the " +":class:`~omni.isaac.kit.SimulationApp` instance which the " +":class:`~app.AppLauncher` class wraps. In this case, it is ``--height`` and " +"``--width``. These are classified as such because they match the name and " +"type of an argument which can be processed by " +":class:`~omni.isaac.kit.SimulationApp`. Please refer to the `specification`_" +" for such arguments for more examples." +msgstr "" +"在帮助输出之前的``[INFO]``消息中还列出了这些参数中哪些将被解释为:class:`~app.AppLauncher`类封装的:class:`~omni.isaac.kit.SimulationApp`实例的参数。在本例中，它是``--height``和``--width``。这些被归类为这样，是因为它们匹配:class:`~omni.isaac.kit.SimulationApp`可以处理的参数的名称和类型。有关这些参数的更多示例，请参考`specification`_。" + +#: ../../source/tutorials/00_sim/launch_app.rst:113 +msgid "Using environment variables" +msgstr "使用环境变量" + +#: ../../source/tutorials/00_sim/launch_app.rst:115 +msgid "" +"As noted in the help message, the :class:`~app.AppLauncher` arguments " +"(``--livestream``, ``--headless``) have corresponding environment variables " +"(envar) as well. These are detailed in :mod:`omni.isaac.lab.app` " +"documentation. Providing any of these arguments through CLI is equivalent to" +" running the script in a shell environment where the corresponding envar is " +"set." +msgstr "" +"如帮助消息中所述，:class:`~app.AppLauncher`参数（``--livestream``，``--headless``）都有对应的环境变量（envar）。这些详细信息可以在:mod:`omni.isaac.lab.app`文档中找到。通过CLI提供这些参数等同于在设置了相应envar的shell环境中运行脚本。" + +#: ../../source/tutorials/00_sim/launch_app.rst:120 +msgid "" +"The support for :class:`~app.AppLauncher` envars are simply a convenience to" +" provide session-persistent configurations, and can be set in the user's " +"``${HOME}/.bashrc`` for persistent settings between sessions. In the case " +"where these arguments are provided from the CLI, they will override their " +"corresponding envar, as we will demonstrate later in this tutorial." +msgstr "" +"对于:class:`~app.AppLauncher` " +"envars的支持只是提供了一种方便的方式来提供会话持久性配置，并且可以在用户的``${HOME}/.bashrc``中设置，以便在会话之间保持持久设置。如果这些参数是从CLI中提供的，它们将覆盖其对应的envar，我们将在本教程的后面部分加以说明。" + +#: ../../source/tutorials/00_sim/launch_app.rst:125 +msgid "" +"These arguments can be used with any script that starts the simulation using" +" :class:`~app.AppLauncher`, with one exception, ``--enable_cameras``. This " +"setting sets the rendering pipeline to use the offscreen renderer. However, " +"this setting is only compatible with the " +":class:`omni.isaac.lab.sim.SimulationContext`. It will not work with Isaac " +"Sim's :class:`omni.isaac.core.simulation_context.SimulationContext` class. " +"For more information on this flag, please see the :class:`~app.AppLauncher` " +"API documentation." +msgstr "" +"这些参数可以与任何启动使用:class:`~app.AppLauncher`的脚本一起使用，只有一个例外情况，即``--enable_cameras``。此设置将设置渲染管线以使用离屏渲染器。但这个设置仅兼容:class:`omni.isaac.lab.sim.SimulationContext`，它不适用于Isaac" +" " +"Sim的:class:`omni.isaac.core.simulation_context.SimulationContext`类。有关此标志的更多信息，请参阅:class:`~app.AppLauncher`" +" API文档。" + +#: ../../source/tutorials/00_sim/launch_app.rst:133 +msgid "The Code Execution" +msgstr "代码执行" + +#: ../../source/tutorials/00_sim/launch_app.rst:135 +msgid "We will now run the example script:" +msgstr "现在我们将运行示例脚本：" + +#: ../../source/tutorials/00_sim/launch_app.rst:141 +msgid "" +"This will spawn a 0.5m\\ :sup:`3` volume cuboid in the simulation. No GUI " +"will appear, equivalent to if we had passed the ``--headless`` flag because " +"headlessness is implied by our ``LIVESTREAM`` envar. If a visualization is " +"desired, we could get one via Isaac's `Native Livestreaming`_. Streaming is " +"currently the only supported method of visualization from within the " +"container. The process can be killed by pressing ``Ctrl+C`` in the launching" +" terminal." +msgstr "" +"这将在模拟器中产生一个0.5m\\ " +":sup:`3`体积的长方体。没有GUI会出现，相当于如果我们传递了``--headless``标志，因为通过``LIVESTREAM`` " +"envar隐式地意味着无头模式。如果需要可视化，我们可以通过Isaac的`本机实时流`_获取一个。从容器内部当前只支持流式传输作为可视化的方法。在启动终端中按``Ctrl+C``可终止这个过程。" + +#: ../../source/tutorials/00_sim/launch_app.rst:148 +msgid "" +"Now, let's look at how :class:`~app.AppLauncher` handles conflicting " +"commands:" +msgstr "现在，让我们看看:class:`~app.AppLauncher`如何处理冲突的命令：" + +#: ../../source/tutorials/00_sim/launch_app.rst:155 +msgid "" +"This will cause the same behavior as in the previous run, because although " +"we have set ``LIVESTREAM=0`` in our envars, CLI args such as " +"``--livestream`` take precedence in determining behavior. The process can be" +" killed by pressing ``Ctrl+C`` in the launching terminal." +msgstr "" +"这将导致与前面的运行相同的行为，因为虽然我们在某些envars中设定了``LIVESTREAM=0``，但是CLI参数如``--livestream``会在决定行为时优先。在启动终端中按``Ctrl+C``可终止这个过程。" + +#: ../../source/tutorials/00_sim/launch_app.rst:159 +msgid "" +"Finally, we will examine passing arguments to " +":class:`~omni.isaac.kit.SimulationApp` through :class:`~app.AppLauncher`:" +msgstr "" +"最后，我们将研究如何通过:class:`~app.AppLauncher`向:class:`~omni.isaac.kit.SimulationApp`传递参数：" + +#: ../../source/tutorials/00_sim/launch_app.rst:167 +msgid "" +"This will cause the same behavior as before, but now the viewport will be " +"rendered at 1920x1080p resolution. This can be useful when we want to gather" +" high-resolution video, or we can specify a lower resolution if we want our " +"simulation to be more performant. The process can be killed by pressing " +"``Ctrl+C`` in the launching terminal." +msgstr "" +"这将导致与之前相同的行为，但现在视口将以1920x1080p的分辨率呈现。这在我们想要收集高分辨率视频时非常有用，或者我们可以指定更低的分辨率以提高模拟性能。在启动终端中按``Ctrl+C``可终止这个过程。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/00_sim/spawn_prims.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/00_sim/spawn_prims.po new file mode 100644 index 0000000000..93790ad55e --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/00_sim/spawn_prims.po @@ -0,0 +1,269 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:5 +msgid "Spawning prims into the scene" +msgstr "场景中生成主体" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:9 +msgid "" +"This tutorial explores how to spawn various objects (or prims) into the " +"scene in Isaac Lab from Python. It builds upon the previous tutorial on " +"running the simulator from a standalone script and demonstrates how to spawn" +" a ground plane, lights, primitive shapes, and meshes from USD files." +msgstr "" +"本教程探讨了如何从Python在Isaac " +"Lab中生成各种对象（或prims）到场景中。它在上一个教程的基础上构建，该教程介绍了如何从独立脚本中运行模拟器，并演示了如何生成地面平面、灯光、基本形状和来自USD文件的网格。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:15 +msgid "The Code" +msgstr "代码" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:17 +msgid "" +"The tutorial corresponds to the ``spawn_prims.py`` script in the " +"``source/standalone/tutorials/00_sim`` directory. Let's take a look at the " +"Python script:" +msgstr "" +"该教程对应于``source/standalone/tutorials/00_sim``目录中的``spawn_prims.py``脚本。让我们来看一下Python脚本：" + +#: ../../source/tutorials/00_sim/spawn_prims.rst +msgid "Code for spawn_prims.py" +msgstr "spawn_prims.py的代码" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:30 +msgid "The Code Explained" +msgstr "代码解释" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:32 +msgid "" +"Scene designing in Omniverse is built around a software system and file " +"format called USD (Universal Scene Description). It allows describing 3D " +"scenes in a hierarchical manner, similar to a file system. Since USD is a " +"comprehensive framework, we recommend reading the `USD documentation`_ to " +"learn more about it." +msgstr "" +"Omniverse中的场景设计建立在一个名为USD（通用场景描述）的软件系统和文件格式之上。它允许以分层方式描述3D场景，类似于文件系统。由于USD是一个综合性框架，我们建议阅读`USD文档`_以了解更多关于它的信息。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:36 +msgid "" +"For completeness, we introduce the must know concepts of USD in this " +"tutorial." +msgstr "为了完整起见，我们在本教程中介绍了USD的必知概念。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:38 +msgid "" +"**Primitives (Prims)**: These are the basic building blocks of a USD scene. " +"They can be thought of as nodes in a scene graph. Each node can be a mesh, a" +" light, a camera, or a transform. It can also be a group of other prims " +"under it." +msgstr "" +"**基本形状（Prims）**：这些是USD场景的基本构件。它们可以被视为场景图中的节点。每个节点可以是网格、灯光、相机或变换。它还可以是其下其他prims的组合。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:40 +msgid "" +"**Attributes**: These are the properties of a prim. They can be thought of " +"as key-value pairs. For example, a prim can have an attribute called " +"``color`` with a value of ``red``." +msgstr "**属性**：这些是prim的属性。它们可以被视为键值对。例如，一个prim可以有一个名为``color``的属性，值为``red``。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:42 +msgid "" +"**Relationships**: These are the connections between prims. They can be " +"thought of as pointers to other prims. For example, a mesh prim can have a " +"relationship to a material prim for shading." +msgstr "" +"**关系**：这些是prims之间的连接。它们可以被视为指向其他prims的指针。例如，一个网格prim可以与一个用于着色的材质prim建立关系。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:45 +msgid "" +"A collection of these prims, with their attributes and relationships, is " +"called a **USD stage**. It can be thought of as a container for all prims in" +" a scene. When we say we are designing a scene, we are actually designing a " +"USD stage." +msgstr "" +"这些prims的集合，以及它们的属性和关系，被称为**USD " +"stage**。可以将其视为场景中所有prims的容器。当我们说我们正在设计场景时，实际上正在设计一个USD stage。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:48 +msgid "" +"While working with direct USD APIs provides a lot of flexibility, it can be " +"cumbersome to learn and use. To make it easier to design scenes, Isaac Lab " +"builds on top of the USD APIs to provide a configuration-driven interface to" +" spawn prims into a scene. These are included in the :mod:`sim.spawners` " +"module." +msgstr "" +"使用直接的USD API可以提供很大的灵活性，但可能会使学习和使用变得麻烦。为了更轻松地设计场景，Isaac Lab在USD " +"API的基础上构建，提供了一种配置驱动的界面，以在场景中生成prims。这些包含在:mod:`sim.spawners`模块中。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:52 +msgid "" +"When spawning prims into the scene, each prim requires a configuration class" +" instance that defines the prim's attributes and relationships (through " +"material and shading information). The configuration class is then passed to" +" its respective function where the prim name and transformation are " +"specified. The function then spawns the prim into the scene." +msgstr "" +"将prims生成到场景中时，每个prim都需要一个配置类实例，用于定义prim的属性和关系（通过材料和着色信息）。然后将配置类传递给其相应的函数，其中指定prim名称和变换。然后函数将prim生成到场景中。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:56 +msgid "At a high-level, this is how it works:" +msgstr "在高层次上，它是如何工作的：" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:71 +msgid "" +"In this tutorial, we demonstrate the spawning of various different prims " +"into the scene. For more information on the available spawners, please refer" +" to the :mod:`sim.spawners` module in Isaac Lab." +msgstr "" +"在本教程中，我们演示了将各种不同的prims生成到场景中。有关可用spawner的更多信息，请参阅Isaac " +"Lab中的:mod:`sim.spawners`模块。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:76 +msgid "" +"All the scene designing must happen before the simulation starts. Once the " +"simulation starts, we recommend keeping the scene frozen and only altering " +"the properties of the prim. This is particularly important for GPU " +"simulation as adding new prims during simulation may alter the physics " +"simulation buffers on GPU and lead to unexpected behaviors." +msgstr "" +"所有的场景设计必须在模拟开始之前完成。一旦模拟开始，我们建议保持场景处于冻结状态，只修改prim的属性。这对于GPU模拟尤为重要，因为在模拟过程中添加新的prims可能会更改GPU上的物理模拟缓冲，导致意外行为。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:83 +msgid "Spawning a ground plane" +msgstr "生成地面平面" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:85 +msgid "" +"The :class:`~sim.spawners.from_files.GroundPlaneCfg` configures a grid-like " +"ground plane with modifiable properties such as its appearance and size." +msgstr "" +":class:`~sim.spawners.from_files.GroundPlaneCfg`配置一个类似网格的地面平面，具有可修改的外观和尺寸等属性。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:95 +msgid "Spawning lights" +msgstr "生成灯光" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:97 +msgid "" +"It is possible to spawn `different light prims`_ into the stage. These " +"include distant lights, sphere lights, disk lights, and cylinder lights. In " +"this tutorial, we spawn a distant light which is a light that is infinitely " +"far away from the scene and shines in a single direction." +msgstr "" +"可以将`不同类型的灯光prims`_生成到舞台中。这些包括远距离灯光、球体灯光、圆盘灯光和柱体灯光。在本教程中，我们生成了一个远距离灯光，它是一种无限远离场景并朝一个方向发光的灯光。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:108 +msgid "Spawning primitive shapes" +msgstr "生成基本形状" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:110 +msgid "" +"Before spawning primitive shapes, we introduce the concept of a transform " +"prim or Xform. A transform prim is a prim that contains only transformation " +"properties. It is used to group other prims under it and to transform them " +"as a group. Here we make an Xform prim to group all the primitive shapes " +"under it." +msgstr "" +"在生成基本形状之前，我们介绍一个转换prim或Xform的概念。转换prim是一个只包含转换属性的prim。它用于将其他prims组合在其下，并将它们作为一个组进行转换。在这里，我们制作一个Xform" +" prim，将所有基本形状组合在其下。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:119 +msgid "" +"Next, we spawn a cone using the :class:`~sim.spawners.shapes.ConeCfg` class." +" It is possible to specify the radius, height, physics properties, and " +"material properties of the cone. By default, the physics and material " +"properties are disabled." +msgstr "" +"接下来，我们使用:class:`~sim.spawners.shapes.ConeCfg`类生成一个圆锥体。可以指定圆锥体的半径、高度、物理属性和材质属性。默认情况下，物理和材质属性是禁用的。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:123 +msgid "" +"The first two cones we spawn ``Cone1`` and ``Cone2`` are visual elements and" +" do not have physics enabled." +msgstr "我们生成的前两个圆锥``Cone1``和``Cone2``是可视元素，并且没有启用物理。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:130 +msgid "" +"For the third cone ``ConeRigid``, we add rigid body physics to it by setting" +" the attributes for that in the configuration class. Through these " +"attributes, we can specify the mass, friction, and restitution of the cone. " +"If unspecified, they default to the default values set by USD Physics." +msgstr "" +"对于第三个圆锥``ConeRigid``，我们通过设置配置类中的属性为其添加了刚体物理。通过这些属性，我们可以指定圆锥的质量、摩擦力和恢复力。如果未指定，它们会按照USD" +" Physics设置的默认值进行处理。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:141 +msgid "Spawning from another file" +msgstr "从其他文件生成" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:143 +msgid "" +"Lastly, it is possible to spawn prims from other file formats such as other " +"USD, URDF, or OBJ files. In this tutorial, we spawn a USD file of a table " +"into the scene. The table is a mesh prim and has a material prim associated " +"with it. All of this information is stored in its USD file." +msgstr "" +"最后，可以从其他文件格式（例如其他USD、URDF或OBJ文件）中生成prims。在本教程中，我们将一个表的USD文件生成到场景中。该桌子是一个网格prim，并与其关联一个材质prim。所有这些信息都存储在它的USD文件中。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:152 +msgid "" +"The table above is added as a reference to the scene. In layman terms, this " +"means that the table is not actually added to the scene, but a ``pointer`` " +"to the table asset is added. This allows us to modify the table asset and " +"have the changes reflected in the scene in a non-destructive manner. For " +"example, we can change the material of the table without actually modifying " +"the underlying file for the table asset directly. Only the changes are " +"stored in the USD stage." +msgstr "" +"上面的表被添加为场景的一个引用。俗称来说，这意味着表实际上并没有被添加到场景中，而是添加了一个``指针``引用到了表资源。这使我们能够修改表资源，并在场景中以一种非破坏性的方式反映出更改。例如，我们可以更改表的材质，而不必直接修改表资产的基础文件。只有更改存储在USD" +" stage中。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:159 +msgid "Executing the Script" +msgstr "执行脚本" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:161 +msgid "" +"Similar to the tutorial before, to run the script, execute the following " +"command:" +msgstr "与之前的教程类似，要运行此脚本，请执行以下命令：" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:167 +msgid "" +"Once the simulation starts, you should see a window with a ground plane, a " +"light, some cones, and a table. The green cone, which has rigid body physics" +" enabled, should fall and collide with the table and the ground plane. The " +"other cones are visual elements and should not move. To stop the simulation," +" you can close the window, or press ``Ctrl+C`` in the terminal." +msgstr "" +"一旦模拟开始，您应该会看到一个带有地面平面、灯光、一些圆锥体和一张桌子的窗口。启用刚体物理的绿色圆锥体应该会下落并与桌子和地面平面发生碰撞。其他圆锥都是可视元素而不会移动。要停止模拟，可以关闭窗口，或在终端中按``Ctrl+C``。" + +#: ../../source/tutorials/00_sim/spawn_prims.rst:172 +msgid "" +"This tutorial provided a foundation for spawning various prims into the " +"scene in Isaac Lab. Although simple, it demonstrates the basic concepts of " +"scene designing in Isaac Lab and how to use the spawners. In the coming " +"tutorials, we will now look at how to interact with the scene and the " +"simulation." +msgstr "" +"本教程为在Isaac Lab中生成各种prims提供了基础。尽管简单，但它演示了在Isaac " +"Lab中设计场景的基本概念以及如何使用spawner。在接下来的教程中，我们将会看看如何与场景和模拟进行交互。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/01_assets/index.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/01_assets/index.po new file mode 100644 index 0000000000..4f17e99069 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/01_assets/index.po @@ -0,0 +1,34 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/01_assets/index.rst:2 +msgid "Interacting with Assets" +msgstr "与资产互动" + +#: ../../source/tutorials/01_assets/index.rst:4 +msgid "" +"Having spawned objects in the scene, these tutorials show you how to create " +"physics handles for these objects and interact with them. These revolve " +"around the :class:`~omni.isaac.lab.assets.AssetBase` class and its " +"derivatives such as :class:`~omni.isaac.lab.assets.RigidObject` and " +":class:`~omni.isaac.lab.assets.Articulation`." +msgstr "" +"在场景中生成了对象后，这些教程向您展示如何为这些对象创建物理手柄并与其进行交互。这些教程围绕着:class:`~omni.isaac.lab.assets.AssetBase`类及其派生类，如:class:`~omni.isaac.lab.assets.RigidObject`和:class:`~omni.isaac.lab.assets.Articulation`。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/01_assets/run_articulation.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/01_assets/run_articulation.po new file mode 100644 index 0000000000..e0d1edebfd --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/01_assets/run_articulation.po @@ -0,0 +1,224 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/01_assets/run_articulation.rst:4 +msgid "Interacting with an articulation" +msgstr "与关节交互" + +#: ../../source/tutorials/01_assets/run_articulation.rst:9 +msgid "" +"This tutorial shows how to interact with an articulated robot in the " +"simulation. It is a continuation of the :ref:`tutorial-interact-rigid-" +"object` tutorial, where we learned how to interact with a rigid object. On " +"top of setting the root state, we will see how to set the joint state and " +"apply commands to the articulated robot." +msgstr "" +"本教程展示了如何与仿真中的关节机器人进行交互。这是 :ref:`tutorial-interact-rigid-object` " +"教程的延续，在那里我们学习了如何与刚体对象交互。除了设置根状态外，我们还将看到如何设置关节状态并向关节机器人应用命令。" + +#: ../../source/tutorials/01_assets/run_articulation.rst:16 +msgid "The Code" +msgstr "代码" + +#: ../../source/tutorials/01_assets/run_articulation.rst:18 +msgid "" +"The tutorial corresponds to the ``run_articulation.py`` script in the " +"``source/standalone/tutorials/01_assets`` directory." +msgstr "" +"该教程对应于``source/standalone/tutorials/01_assets``目录中的``run_articulation.py``脚本。" + +#: ../../source/tutorials/01_assets/run_articulation.rst +msgid "Code for run_articulation.py" +msgstr "run_articulation.py的代码" + +#: ../../source/tutorials/01_assets/run_articulation.rst:31 +msgid "The Code Explained" +msgstr "代码解释" + +#: ../../source/tutorials/01_assets/run_articulation.rst:34 +msgid "Designing the scene" +msgstr "设计场景" + +#: ../../source/tutorials/01_assets/run_articulation.rst:36 +msgid "" +"Similar to the previous tutorial, we populate the scene with a ground plane " +"and a distant light. Instead of spawning rigid objects, we now spawn a cart-" +"pole articulation from its USD file. The cart-pole is a simple robot " +"consisting of a cart and a pole attached to it. The cart is free to move " +"along the x-axis, and the pole is free to rotate about the cart. The USD " +"file for the cart-pole contains the robot's geometry, joints, and other " +"physical properties." +msgstr "" +"与上一个教程类似，我们用地平面和远距离光线填充场景。现在，我们不再生成刚性对象，而是从其USD文件中生成一个小车-杆关节。小车-" +"杆是一个简单的机器人，由一个小车和一个牢固装配在其上的杆组成。小车可以沿x轴自由移动，并且杆可以围绕小车自由旋转。小车-" +"杆的USD文件包含了机器人的几何、关节和其他物理特性。" + +#: ../../source/tutorials/01_assets/run_articulation.rst:42 +msgid "" +"For the cart-pole, we use its pre-defined configuration object, which is an " +"instance of the :class:`assets.ArticulationCfg` class. This class contains " +"information about the articulation's spawning strategy, default initial " +"state, actuator models for different joints, and other meta-information. A " +"deeper-dive into how to create this configuration object is provided in the " +":ref:`how-to-write-articulation-config` tutorial." +msgstr "" +"对于小车-杆，我们使用其预定义的配置对象，这个对象是 :class:`assets.ArticulationCfg` " +"类的一个实例。这个类包含关于关节机器人生成策略、默认初始状态、不同关节的执行器模型以及其他元信息。如何创建此配置对象的更深入了解可以在 " +":ref:`how-to-write-articulation-config` 教程中找到。" + +#: ../../source/tutorials/01_assets/run_articulation.rst:47 +msgid "" +"As seen in the previous tutorial, we can spawn the articulation into the " +"scene in a similar fashion by creating an instance of the " +":class:`assets.Articulation` class by passing the configuration object to " +"its constructor." +msgstr "" +"与以前的教程类似，我们可以通过创建 :class:`assets.Articulation` " +"类的一个实例，并将配置对象传递给其构造函数来以相似的方式将关节机器人生成到场景中。" + +#: ../../source/tutorials/01_assets/run_articulation.rst:57 +msgid "Running the simulation loop" +msgstr "运行模拟循环" + +#: ../../source/tutorials/01_assets/run_articulation.rst:59 +msgid "" +"Continuing from the previous tutorial, we reset the simulation at regular " +"intervals, set commands to the articulation, step the simulation, and update" +" the articulation's internal buffers." +msgstr "继续从上一个教程，我们会定期重置模拟，设置关节机器人的命令，为模拟迈出一步，并更新关节机器人的内部缓冲。" + +#: ../../source/tutorials/01_assets/run_articulation.rst:63 +msgid "Resetting the simulation" +msgstr "重置模拟" + +#: ../../source/tutorials/01_assets/run_articulation.rst:65 +msgid "" +"Similar to a rigid object, an articulation also has a root state. This state" +" corresponds to the root body in the articulation tree. On top of the root " +"state, an articulation also has joint states. These states correspond to the" +" joint positions and velocities." +msgstr "" +"与刚性对象类似，关节机器人也有一个根状态。这个状态对应于关节机器人树中的根体。除了根状态外，关节机器人还有关节状态。这些状态对应于关节的位置和速度。" + +#: ../../source/tutorials/01_assets/run_articulation.rst:69 +msgid "" +"To reset the articulation, we first set the root state by calling the " +":meth:`Articulation.write_root_state_to_sim` method. Similarly, we set the " +"joint states by calling the :meth:`Articulation.write_joint_state_to_sim` " +"method. Finally, we call the :meth:`Articulation.reset` method to reset any " +"internal buffers and caches." +msgstr "" +"为了重置关节机器人，我们首先调用 :meth:`Articulation.write_root_state_to_sim` " +"方法设置根状态。类似地，我们通过调用 :meth:`Articulation.write_joint_state_to_sim` " +"方法设置关节状态。最后，我们调用 :meth:`Articulation.reset` 方法来重置任何内部缓冲区和缓存。" + +#: ../../source/tutorials/01_assets/run_articulation.rst:79 +msgid "Stepping the simulation" +msgstr "推进模拟" + +#: ../../source/tutorials/01_assets/run_articulation.rst:81 +msgid "Applying commands to the articulation involves two steps:" +msgstr "将命令应用到关节机器人包括两个步骤：" + +#: ../../source/tutorials/01_assets/run_articulation.rst:83 +msgid "" +"*Setting the joint targets*: This sets the desired joint position, velocity," +" or effort targets for the articulation." +msgstr "*设置关节目标*：这将为关节机器人设置所需的关节位置、速度或力矩目标。" + +#: ../../source/tutorials/01_assets/run_articulation.rst:84 +msgid "" +"*Writing the data to the simulation*: Based on the articulation's " +"configuration, this step handles any :ref:`actuation conversions ` and writes the converted values to the PhysX buffer." +msgstr "" +"*将数据写入模拟*：根据关节机器人的配置，这一步处理任何 :ref:`执行转换 ` " +"并将转换值写入PhysX缓冲区。" + +#: ../../source/tutorials/01_assets/run_articulation.rst:87 +msgid "" +"In this tutorial, we control the articulation using joint effort commands. " +"For this to work, we need to set the articulation's stiffness and damping " +"parameters to zero. This is done a-priori inside the cart-pole's pre-defined" +" configuration object." +msgstr "" +"在本教程中，我们使用关节力矩命令来控制关节机器人。为了使其正常工作，我们需要将关节机器人的刚度和阻尼参数设置为零。这在小车-" +"杆的预定义配置对象内部预先完成。" + +#: ../../source/tutorials/01_assets/run_articulation.rst:91 +msgid "" +"At every step, we randomly sample joint efforts and set them to the " +"articulation by calling the :meth:`Articulation.set_joint_effort_target` " +"method. After setting the targets, we call the " +":meth:`Articulation.write_data_to_sim` method to write the data to the PhysX" +" buffer. Finally, we step the simulation." +msgstr "" +"在每一步中，我们通过调用 :meth:`Articulation.set_joint_effort_target` " +"方法随机抽样关节努力并将其设置到关节机器人上。设置完目标后，我们通过调用 :meth:`Articulation.write_data_to_sim` " +"方法将数据写入PhysX缓冲区。最后，我们迈出模拟的一步。" + +#: ../../source/tutorials/01_assets/run_articulation.rst:103 +msgid "Updating the state" +msgstr "更新状态" + +#: ../../source/tutorials/01_assets/run_articulation.rst:105 +msgid "" +"Every articulation class contains a :class:`assets.ArticulationData` object." +" This stores the state of the articulation. To update the state inside the " +"buffer, we call the :meth:`assets.Articulation.update` method." +msgstr "" +"每个关节机器人类都包含一个 :class:`assets.ArticulationData` " +"对象。这个对象存储关节机器人的状态。为了在缓冲区内更新状态，我们调用 :meth:`assets.Articulation.update` 方法。" + +#: ../../source/tutorials/01_assets/run_articulation.rst:115 +msgid "The Code Execution" +msgstr "代码执行" + +#: ../../source/tutorials/01_assets/run_articulation.rst:117 +msgid "" +"To run the code and see the results, let's run the script from the terminal:" +msgstr "要运行代码并查看结果，让我们从终端运行脚本：" + +#: ../../source/tutorials/01_assets/run_articulation.rst:124 +msgid "" +"This command should open a stage with a ground plane, lights, and two cart-" +"poles that are moving around randomly. To stop the simulation, you can " +"either close the window, press the ``STOP`` button in the UI, or press " +"``Ctrl+C`` in the terminal." +msgstr "" +"这个命令应该打开一个带有地平面、灯光和随机移动的两个小车-杆的场景。要停止模拟，您可以关闭窗口，按UI中的“停止”按钮，或在终端中按“Ctrl+C”。" + +#: ../../source/tutorials/01_assets/run_articulation.rst:128 +msgid "" +"In this tutorial, we learned how to create and interact with a simple " +"articulation. We saw how to set the state of an articulation (its root and " +"joint state) and how to apply commands to it. We also saw how to update its " +"buffers to read the latest state from the simulation." +msgstr "" +"在本教程中，我们学会了如何创建和与简单的关节机器人交互。我们看到了如何设置关节机器人的状态（其根和关节状态），以及如何应用命令。我们还学会了如何更新其缓冲区来读取来自模拟的最新状态。" + +#: ../../source/tutorials/01_assets/run_articulation.rst:132 +msgid "" +"In addition to this tutorial, we also provide a few other scripts that spawn" +" different robots.These are included in the ``source/standalone/demos`` " +"directory. You can run these scripts as:" +msgstr "" +"除了这个教程，我们还提供了一些其他脚本，用于生成不同的机器人。这些包含在``source/standalone/demos``目录中。您可以运行这些脚本如下：" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/01_assets/run_rigid_object.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/01_assets/run_rigid_object.po new file mode 100644 index 0000000000..19e2feaf01 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/01_assets/run_rigid_object.po @@ -0,0 +1,235 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:5 +msgid "Interacting with a rigid object" +msgstr "与刚性物体交互" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:9 +msgid "" +"In the previous tutorials, we learned the essential workings of the " +"standalone script and how to spawn different objects (or *prims*) into the " +"simulation. This tutorial shows how to create and interact with a rigid " +"object. For this, we will use the :class:`assets.RigidObject` class provided" +" in Isaac Lab." +msgstr "" +"在以前的教程中，我们学习了独立脚本的基本工作原理以及如何将不同的对象（或*基元*）生成到模拟中。本教程展示了如何创建和与刚性物体交互。为此，我们将使用Isaac实验室提供的:class:`assets.RigidObject`类。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:14 +msgid "The Code" +msgstr "代码" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:16 +msgid "" +"The tutorial corresponds to the ``run_rigid_object.py`` script in the " +"``source/standalone/tutorials/01_assets`` directory." +msgstr "" +"本教程对应于``source/standalone/tutorials/01_assets``目录中的``run_rigid_object.py``脚本。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst +msgid "Code for run_rigid_object.py" +msgstr "run_rigid_object.py的代码" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:28 +msgid "The Code Explained" +msgstr "代码解释" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:30 +msgid "" +"In this script, we split the ``main`` function into two separate functions, " +"which highlight the two main steps of setting up any simulation in the " +"simulator:" +msgstr "在这个脚本中，我们将``main``函数分成了两个单独的函数，这突出显示了在模拟器中设置任何模拟的两个主要步骤：" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:33 +msgid "" +"**Design scene**: As the name suggests, this part is responsible for adding " +"all the prims to the scene." +msgstr "**设计场景**：顾名思义，这部分负责将所有基元添加到场景中。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:34 +msgid "" +"**Run simulation**: This part is responsible for stepping the simulator, " +"interacting with the prims in the scene, e.g., changing their poses, and " +"applying any commands to them." +msgstr "**运行模拟**：这部分负责让模拟器步进，与场景中的基元交互，例如改变它们的姿态，并对它们应用任何命令。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:37 +msgid "" +"A distinction between these two steps is necessary because the second step " +"only happens after the first step is complete and the simulator is reset. " +"Once the simulator is reset (which automatically plays the simulation), no " +"new (physics-enabled) prims should be added to the scene as it may lead to " +"unexpected behaviors. However, the prims can be interacted with through " +"their respective handles." +msgstr "" +"这两个步骤之间的区别是必要的，因为第二步只有在第一步完成并重新设置模拟器后才会发生。一旦模拟器被重置（这会自动播放模拟），就不应该再向场景中添加新的（启用了物理的）基元，因为这可能导致意外的行为。但是，可以通过它们各自的句柄与基元进行交互。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:44 +msgid "Designing the scene" +msgstr "设计场景" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:46 +msgid "" +"Similar to the previous tutorial, we populate the scene with a ground plane " +"and a light source. In addition, we add a rigid object to the scene using " +"the :class:`assets.RigidObject` class. This class is responsible for " +"spawning the prims at the input path and initializes their corresponding " +"rigid body physics handles." +msgstr "" +"与以前的教程类似，我们用地平面和光源装饰了场景。此外，我们还使用:class:`assets.RigidObject`类向场景中添加了一个刚性物体。该类负责在输入路径处生成基元，并初始化相应的刚性物体的物理句柄。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:50 +msgid "" +"In this tutorial, we create a conical rigid object using the spawn " +"configuration similar to the rigid cone in the :ref:`Spawn Objects " +"` tutorial. The only difference is that now we wrap " +"the spawning configuration into the :class:`assets.RigidObjectCfg` class. " +"This class contains information about the asset's spawning strategy, default" +" initial state, and other meta-information. When this class is passed to the" +" :class:`assets.RigidObject` class, it spawns the object and initializes the" +" corresponding physics handles when the simulation is played." +msgstr "" +"在本教程中，我们使用与:ref:`生成物体`教程中刚性圆锥相似的生成配置创建了一个圆锥形的刚性物体。唯一的区别是现在我们将生成配置封装到:class:`assets.RigidObjectCfg`类中。该类包含有关资产生成策略、默认初始状态和其他元信息的信息。当此类被传递给:class:`assets.RigidObject`类时，它会在播放模拟时生成对象并初始化相应的物理句柄。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:57 +msgid "" +"As an example on spawning the rigid object prim multiple times, we create " +"its parent Xform prims, ``/World/Origin{i}``, that correspond to different " +"spawn locations. When the regex expression ``/World/Origin*/Cone`` is passed" +" to the :class:`assets.RigidObject` class, it spawns the rigid object prim " +"at each of the ``/World/Origin{i}`` locations. For instance, if " +"``/World/Origin1`` and ``/World/Origin2`` are present in the scene, the " +"rigid object prims are spawned at the locations ``/World/Origin1/Cone`` and " +"``/World/Origin2/Cone`` respectively." +msgstr "" +"作为多次生成刚性物体基元的一个例子，我们创建了它的父级Xform基元，``/World/Origin{i}``，它对应于不同的生成位置。当正则表达式``/World/Origin*/Cone``被传递给:class:`assets.RigidObject`类时，它会在每个``/World/Origin{i}``位置生成刚性物体基元。例如，如果``/World/Origin1``和``/World/Origin2``存在于场景中，则刚性物体基元会分别生成在位置``/World/Origin1/Cone``和``/World/Origin2/Cone``。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:69 +msgid "" +"Since we want to interact with the rigid object, we pass this entity back to" +" the main function. This entity is then used to interact with the rigid " +"object in the simulation loop. In later tutorials, we will see a more " +"convenient way to handle multiple scene entities using the " +":class:`scene.InteractiveScene` class." +msgstr "" +"由于我们想要与刚性物体交互，我们将这个实体传递回主函数。然后在模拟循环中用它来与刚性物体交互。在以后的教程中，我们将看到使用:class:`scene.InteractiveScene`类来处理多个场景实体的更方便的方法。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:80 +msgid "Running the simulation loop" +msgstr "运行模拟循环" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:82 +msgid "" +"We modify the simulation loop to interact with the rigid object to include " +"three steps -- resetting the simulation state at fixed intervals, stepping " +"the simulation, and updating the internal buffers of the rigid object. For " +"the convenience of this tutorial, we extract the rigid object's entity from " +"the scene dictionary and store it in a variable." +msgstr "" +"我们修改了与刚性物体交互的模拟循环，包括三个步骤--" +"在固定的时间间隔重置模拟状态，模拟步进和更新刚性物体的内部缓冲区。为了本教程的方便，我们从场景字典中提取了刚性物体的实体并将其存储在一个变量中。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:88 +msgid "Resetting the simulation state" +msgstr "重置模拟状态" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:90 +msgid "" +"To reset the simulation state of the spawned rigid object prims, we need to " +"set their pose and velocity. Together they define the root state of the " +"spawned rigid objects. It is important to note that this state is defined in" +" the **simulation world frame**, and not of their parent Xform prim. This is" +" because the physics engine only understands the world frame and not the " +"parent Xform prim's frame. Thus, we need to transform desired state of the " +"rigid object prim into the world frame before setting it." +msgstr "" +"要重置生成的刚性物体基元的模拟状态，我们需要设置它们的姿态和速度。它们一起定义了生成的刚性物体的根状态。重要的是要注意，这个状态是在**模拟世界坐标系**中定义的，而不是它们父级Xform基元的坐标系。这是因为物理引擎只理解世界坐标系，而不理解父级Xform基元的坐标系。因此，我们需要将刚性物体基元的期望状态转换到世界坐标系，然后再设置它。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:96 +msgid "" +"We use the :attr:`assets.RigidObject.data.default_root_state` attribute to " +"get the default root state of the spawned rigid object prims. This default " +"state can be configured from the :attr:`assets.RigidObjectCfg.init_state` " +"attribute, which we left as identity in this tutorial. We then randomize the" +" translation of the root state and set the desired state of the rigid object" +" prim using the :meth:`assets.RigidObject.write_root_state_to_sim` method. " +"As the name suggests, this method writes the root state of the rigid object " +"prim into the simulation buffer." +msgstr "" +"我们使用:attr:`assets.RigidObject.data.default_root_state`属性获取生成的刚性物体基元的默认根状态。这个默认状态可以从:attr:`assets.RigidObjectCfg.init_state`属性中配置，我们在本教程中将它设置为单位。然后我们随机化根状态的平移，并使用:meth:`assets.RigidObject.write_root_state_to_sim`方法设置刚性物体基元的期望状态。顾名思义，这个方法将刚性物体基元的根状态写入模拟缓冲区中。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:108 +msgid "Stepping the simulation" +msgstr "模拟步进" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:110 +msgid "" +"Before stepping the simulation, we perform the " +":meth:`assets.RigidObject.write_data_to_sim` method. This method writes " +"other data, such as external forces, into the simulation buffer. In this " +"tutorial, we do not apply any external forces to the rigid object, so this " +"method is not necessary. However, it is included for completeness." +msgstr "" +"在模拟步进之前，我们执行:meth:`assets.RigidObject.write_data_to_sim`方法。这个方法将其他数据，例如外部力，写入模拟缓冲区中。在本教程中，我们没有对刚性物体施加任何外部力，所以这个方法是不必要的。但是它包含在这里是为了完整起见。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:120 +msgid "Updating the state" +msgstr "更新状态" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:122 +msgid "" +"After stepping the simulation, we update the internal buffers of the rigid " +"object prims to reflect their new state inside the " +":class:`assets.RigidObject.data` attribute. This is done using the " +":meth:`assets.RigidObject.update` method." +msgstr "" +"模拟步进后，我们使用:meth:`assets.RigidObject.update`方法更新刚性物体基元的内部缓冲区，以反映它们在:class:`assets.RigidObject.data`属性中的新状态。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:132 +msgid "The Code Execution" +msgstr "代码执行" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:134 +msgid "" +"Now that we have gone through the code, let's run the script and see the " +"result:" +msgstr "现在我们已经浏览了代码，让我们运行脚本并查看结果：" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:141 +msgid "" +"This should open a stage with a ground plane, lights, and several green " +"cones. The cones must be dropping from a random height and settling on to " +"the ground. To stop the simulation, you can either close the window, or " +"press the ``STOP`` button in the UI, or press ``Ctrl+C`` in the terminal" +msgstr "" +"这应该会打开一个包含地平面、灯光和几个绿色圆锥的阶段。圆锥必须从随机高度掉落并落到地面上。要停止模拟，可以关闭窗口，或者在UI中按下``STOP``按钮，或者在终端中按下``Ctrl+C``。" + +#: ../../source/tutorials/01_assets/run_rigid_object.rst:145 +msgid "" +"This tutorial showed how to spawn rigid objects and wrap them in a " +":class:`RigidObject` class to initialize their physics handles which allows " +"setting and obtaining their state. In the next tutorial, we will see how to " +"interact with an articulated object which is a collection of rigid objects " +"connected by joints." +msgstr "" +"本教程演示了如何生成刚性物体，并将它们封装在一个:class:`RigidObject`类中以初始化它们的物理句柄，从而允许设置和获取它们的状态。在下一个教程中，我们将看到如何与由关节连接的刚性物体集合（关节对象）进行交互。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/02_scene/create_scene.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/02_scene/create_scene.po new file mode 100644 index 0000000000..60f44936af --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/02_scene/create_scene.po @@ -0,0 +1,288 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/02_scene/create_scene.rst:4 +msgid "Using the Interactive Scene" +msgstr "使用交互式场景" + +#: ../../source/tutorials/02_scene/create_scene.rst:8 +msgid "" +"So far in the tutorials, we manually spawned assets into the simulation and " +"created object instances to interact with them. However, as the complexity " +"of the scene increases, it becomes tedious to perform these tasks manually. " +"In this tutorial, we will introduce the :class:`scene.InteractiveScene` " +"class, which provides a convenient interface for spawning prims and managing" +" them in the simulation." +msgstr "" +"到目前为止，在教程中，我们手动将资产生成到模拟中，并创建对象实例与它们进行交互。然而，随着场景复杂性的增加，手动执行这些任务变得繁琐。在本教程中，我们将介绍:class:`scene.InteractiveScene`类，为在模拟中生成prims和管理它们提供便捷的接口。" + +#: ../../source/tutorials/02_scene/create_scene.rst:14 +msgid "" +"At a high-level, the interactive scene is a collection of scene entities. " +"Each entity can be either a non-interactive prim (e.g. ground plane, light " +"source), an interactive prim (e.g. articulation, rigid object), or a sensor " +"(e.g. camera, lidar). The interactive scene provides a convenient interface " +"for spawning these entities and managing them in the simulation." +msgstr "" +"在高层次上，交互式场景是场景实体的集合。每个实体可以是非交互式prim（例如地平面，光源），交互式prim（例如关节，刚性物体），或传感器（例如摄像头，激光雷达）。交互式场景提供了一个方便的接口，用于在模拟中生成这些实体和对它们进行管理。" + +#: ../../source/tutorials/02_scene/create_scene.rst:20 +msgid "Compared the manual approach, it provides the following benefits:" +msgstr "与手动方法相比，它提供了以下好处：" + +#: ../../source/tutorials/02_scene/create_scene.rst:22 +msgid "" +"Alleviates the user needing to spawn each asset separately as this is " +"handled implicitly." +msgstr "减轻了用户需要单独生成每个资产的负担，因为这一点被隐式处理。" + +#: ../../source/tutorials/02_scene/create_scene.rst:23 +msgid "" +"Enables user-friendly cloning of scene prims for multiple environments." +msgstr "为多个环境启用用户友好的场景prims克隆。" + +#: ../../source/tutorials/02_scene/create_scene.rst:24 +msgid "" +"Collects all the scene entities into a single object, which makes them " +"easier to manage." +msgstr "将所有场景实体收集到一个单个对象中，使它们更易于管理。" + +#: ../../source/tutorials/02_scene/create_scene.rst:26 +msgid "" +"In this tutorial, we take the cartpole example from the :ref:`tutorial-" +"interact-articulation` tutorial and replace the ``design_scene`` function " +"with an :class:`scene.InteractiveScene` object. While it may seem like " +"overkill to use the interactive scene for this simple example, it will " +"become more useful in the future as more assets and sensors are added to the" +" scene." +msgstr "" +"在本教程中，我们从:ref:教程交互关节中的cartpole示例，替换``design_scene``函数为:class:`scene.InteractiveScene`对象。虽然在这个简单的例子中使用交互式场景似乎有点过头，但随着未来增加更多资产和传感器，它将变得更加有用。" + +#: ../../source/tutorials/02_scene/create_scene.rst:33 +msgid "The Code" +msgstr "代码" + +#: ../../source/tutorials/02_scene/create_scene.rst:35 +msgid "" +"This tutorial corresponds to the ``create_scene.py`` script within " +"``source/standalone/tutorials/02_scene``." +msgstr "" +"该教程对应于``source/standalone/tutorials/02_scene``目录下的``create_scene.py``脚本。" + +#: ../../source/tutorials/02_scene/create_scene.rst +msgid "Code for create_scene.py" +msgstr "create_scene.py的代码" + +#: ../../source/tutorials/02_scene/create_scene.rst:48 +msgid "The Code Explained" +msgstr "代码解释" + +#: ../../source/tutorials/02_scene/create_scene.rst:50 +msgid "" +"While the code is similar to the previous tutorial, there are a few key " +"differences that we will go over in detail." +msgstr "虽然代码与上一个教程类似，但有一些关键区别我们将会详细讨论。" + +#: ../../source/tutorials/02_scene/create_scene.rst:54 +msgid "Scene configuration" +msgstr "场景配置" + +#: ../../source/tutorials/02_scene/create_scene.rst:56 +msgid "" +"The scene is composed of a collection of entities, each with their own " +"configuration. These are specified in a configuration class that inherits " +"from :class:`scene.InteractiveSceneCfg`. The configuration class is then " +"passed to the :class:`scene.InteractiveScene` constructor to create the " +"scene." +msgstr "" +"场景由一系列拥有自己配置的实体组成。这些被指定在一个从:class:`scene.InteractiveSceneCfg`继承的配置类中。然后这个配置类被传递到:class:`scene.InteractiveScene`构造函数中用于创建场景。" + +#: ../../source/tutorials/02_scene/create_scene.rst:61 +msgid "" +"For the cartpole example, we specify the same scene as in the previous " +"tutorial, but list them now in the configuration class " +":class:`CartpoleSceneCfg` instead of manually spawning them." +msgstr "" +"对于cartpole示例，我们指定了与上一个教程中相同的场景，但现在在配置类:class:`CartpoleSceneCfg`中列出它们，而不是手动生成它们。" + +#: ../../source/tutorials/02_scene/create_scene.rst:68 +msgid "" +"The variable names in the configuration class are used as keys to access the" +" corresponding entity from the :class:`scene.InteractiveScene` object. For " +"example, the cartpole can be accessed via ``scene[\"cartpole\"]``. However, " +"we will get to that later. First, let's look at how individual scene " +"entities are configured." +msgstr "" +"配置类中的变量名被用作键来访问:class:`scene.InteractiveScene`对象中的相应实体。例如，可以通过``scene[\"cartpole\"]``访问cartpole。但是，我们稍后将讲到。首先，让我们看看如何配置单个场景实体。" + +#: ../../source/tutorials/02_scene/create_scene.rst:73 +msgid "" +"Similar to how a rigid object and articulation were configured in the " +"previous tutorials, the configurations are specified using a configuration " +"class. However, there is a key difference between the configurations for the" +" ground plane and light source and the configuration for the cartpole. The " +"ground plane and light source are non-interactive prims, while the cartpole " +"is an interactive prim. This distinction is reflected in the configuration " +"classes used to specify them. The configurations for the ground plane and " +"light source are specified using an instance of the " +":class:`assets.AssetBaseCfg` class while the cartpole is configured using an" +" instance of the :class:`assets.ArticulationCfg`. Anything that is not an " +"interactive prim (i.e., neither an asset nor a sensor) is not *handled* by " +"the scene during simulation steps." +msgstr "" +"与之前的教程中配置一个刚性物体和关节类似，配置是使用配置类指定的。然而，场景中地平面和光源的配置与cartpole的配置有一个关键区别。地平面和光源是非交互式prims，而cartpole是交互式prim。这一差异反映在用于指定它们的配置类中。地平面和光源的配置使用了:class:`assets.AssetBaseCfg`的实例，而cartpole使用了:class:`assets.ArticulationCfg`的实例。在模拟步骤期间，场景不“处理”任何不是交互式prim（即不是资产也不是传感器）的东西。" + +#: ../../source/tutorials/02_scene/create_scene.rst:84 +msgid "" +"Another key difference to note is in the specification of the prim paths for" +" the different prims:" +msgstr "还需要注意的另一个关键区别在于不同prim的prim路径的指定方式：" + +#: ../../source/tutorials/02_scene/create_scene.rst:87 +msgid "Ground plane: ``/World/defaultGroundPlane``" +msgstr "地平面：``/World/defaultGroundPlane``" + +#: ../../source/tutorials/02_scene/create_scene.rst:88 +msgid "Light source: ``/World/Light``" +msgstr "光源：``/World/Light``" + +#: ../../source/tutorials/02_scene/create_scene.rst:89 +msgid "Cartpole: ``{ENV_REGEX_NS}/Robot``" +msgstr "Cartpole：``{ENV_REGEX_NS}/Robot``" + +#: ../../source/tutorials/02_scene/create_scene.rst:91 +msgid "" +"As we learned earlier, Omniverse creates a graph of prims in the USD stage. " +"The prim paths are used to specify the location of the prim in the graph. " +"The ground plane and light source are specified using absolute paths, while " +"the cartpole is specified using a relative path. The relative path is " +"specified using the ``ENV_REGEX_NS`` variable, which is a special variable " +"that is replaced with the environment name during scene creation. Any entity" +" that has the ``ENV_REGEX_NS`` variable in its prim path will be cloned for" +" each environment. This path is replaced by the scene object with " +"``/World/envs/env_{i}`` where ``i`` is the environment index." +msgstr "" +"正如之前所学的，Omniverse创建了USD阶段的prims图。prim路径用于指定图中prim的位置。地平面和光源使用绝对路径指定，而cartpole使用相对路径指定。相对路径使用了``ENV_REGEX_NS``变量，这是一个特殊变量，在场景创建期间由环境名称替换。任何在其prim路径中具有``ENV_REGEX_NS``变量的实体都将被克隆为每个环境。此路径被scene对象替换为``/World/envs/env_{i}``其中``i``是环境索引。" + +#: ../../source/tutorials/02_scene/create_scene.rst:101 +msgid "Scene instantiation" +msgstr "场景实例化" + +#: ../../source/tutorials/02_scene/create_scene.rst:103 +msgid "" +"Unlike before where we called the ``design_scene`` function to create the " +"scene, we now create an instance of the :class:`scene.InteractiveScene` " +"class and pass in the configuration object to its constructor. While " +"creating the configuration instance of ``CartpoleSceneCfg`` we specify how " +"many environment copies we want to create using the ``num_envs`` argument. " +"This will be used to clone the scene for each environment." +msgstr "" +"与以前我们调用``design_scene``函数创建场景不同，我们现在创建:class:`scene.InteractiveScene`类的一个实例，并将配置对象传递给它的构造函数。在创建``CartpoleSceneCfg``的配置实例期间，我们使用``num_envs``参数指定要创建多少环境副本。这将用于为每个环境克隆场景。" + +#: ../../source/tutorials/02_scene/create_scene.rst:115 +msgid "Accessing scene elements" +msgstr "访问场景实体" + +#: ../../source/tutorials/02_scene/create_scene.rst:117 +msgid "" +"Similar to how entities were accessed from a dictionary in the previous " +"tutorials, the scene elements can be accessed from the " +":class:`InteractiveScene` object using the ``[]`` operator. The operator " +"takes in a string key and returns the corresponding entity. The key is " +"specified through the configuration class for each entity. For example, the " +"cartpole is specified using the key ``\"cartpole\"`` in the configuration " +"class." +msgstr "" +"你可以使用与以前教程中用字典从entities中访问的类似方法从:class:`InteractiveScene`对象中访问场景实体，使用``[]``运算符。该运算代入一个字符串键并返回相应的实体。键是通过每个实体的配置类指定的。例如，cartpole" +" 在配置类中使用键``\"cartpole\"``指定。" + +#: ../../source/tutorials/02_scene/create_scene.rst:129 +msgid "Running the simulation loop" +msgstr "运行模拟循环" + +#: ../../source/tutorials/02_scene/create_scene.rst:131 +msgid "" +"The rest of the script looks similar to previous scripts that interfaced " +"with :class:`assets.Articulation`, with a few small differences in the " +"methods called:" +msgstr "脚本的其余部分看起来类似于以前与 :class:`assets.Articulation` 交互的脚本，方法的调用有一些小的不同：" + +#: ../../source/tutorials/02_scene/create_scene.rst:134 +msgid "" +":meth:`assets.Articulation.reset` ⟶ :meth:`scene.InteractiveScene.reset`" +msgstr "" +":meth:`assets.Articulation.reset` ⟶ :meth:`scene.InteractiveScene.reset`" + +#: ../../source/tutorials/02_scene/create_scene.rst:135 +msgid "" +":meth:`assets.Articulation.write_data_to_sim` ⟶ " +":meth:`scene.InteractiveScene.write_data_to_sim`" +msgstr "" +":meth:`assets.Articulation.write_data_to_sim` ⟶ " +":meth:`scene.InteractiveScene.write_data_to_sim`" + +#: ../../source/tutorials/02_scene/create_scene.rst:136 +msgid "" +":meth:`assets.Articulation.update` ⟶ :meth:`scene.InteractiveScene.update`" +msgstr "" +":meth:`assets.Articulation.update` ⟶ :meth:`scene.InteractiveScene.update`" + +#: ../../source/tutorials/02_scene/create_scene.rst:138 +msgid "" +"Under the hood, the methods of :class:`scene.InteractiveScene` call the " +"corresponding methods of the entities in the scene." +msgstr "在内部，:class:`scene.InteractiveScene`的方法调用了场景中的实体的相应方法。" + +#: ../../source/tutorials/02_scene/create_scene.rst:143 +msgid "The Code Execution" +msgstr "代码执行" + +#: ../../source/tutorials/02_scene/create_scene.rst:145 +msgid "" +"Let's run the script to simulate 32 cartpoles in the scene. We can do this " +"by passing the ``--num_envs`` argument to the script." +msgstr "" +"让我们运行脚本来模拟场景中的32个cartpole。我们可以通过向脚本传递``--num_envs``参数来实现。这应该会打开一个包含32个cartpole随机摆动的舞台，你可以使用鼠标旋转相机，使用箭头键在场景中移动。" + +#: ../../source/tutorials/02_scene/create_scene.rst:152 +msgid "" +"This should open a stage with 32 cartpoles swinging around randomly. You can" +" use the mouse to rotate the camera and the arrow keys to move around the " +"scene." +msgstr "" +"在本教程中，我们学习了如何使用:class:`scene.InteractiveScene`来创建一个带有多个资产的场景。我们还学习了如何使用``num_envs``参数来为多个环境克隆场景。" + +#: ../../source/tutorials/02_scene/create_scene.rst:155 +msgid "" +"In this tutorial, we saw how to use :class:`scene.InteractiveScene` to " +"create a scene with multiple assets. We also saw how to use the ``num_envs``" +" argument to clone the scene for multiple environments." +msgstr "" +"在``omni.isaac.lab_tasks``扩展中的任务中还有更多:class:`scene.InteractiveSceneCfg`的示例用法。请查看源代码，了解它们在更复杂的场景中如何使用。" + +#: ../../source/tutorials/02_scene/create_scene.rst:159 +msgid "" +"There are many more example usages of the :class:`scene.InteractiveSceneCfg`" +" in the tasks found under the ``omni.isaac.lab_tasks`` extension. Please " +"check out the source code to see how they are used for more complex scenes." +msgstr "" +"在 ``omni.isaac.lab_tasks`` 扩展中找到的任务中，有许多对 :class:`scene.InteractiveSceneCfg`" +" 的用法示例。请查看源代码，了解它们如何用于更复杂的场景。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/02_scene/index.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/02_scene/index.po new file mode 100644 index 0000000000..2aa26fe98d --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/02_scene/index.po @@ -0,0 +1,33 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/02_scene/index.rst:2 +msgid "Creating a Scene" +msgstr "创建一个场景" + +#: ../../source/tutorials/02_scene/index.rst:4 +msgid "" +"With the basic concepts of the framework covered, the tutorials move to a " +"more intuitive scene interface that uses the " +":class:`~omni.isaac.lab.scene.InteractiveScene` class. This class provides a" +" higher level abstraction for creating scenes easily." +msgstr "" +"在基本概念框架覆盖的基础上，教程转到了一个更直观的场景界面，使用:class:`~omni.isaac.lab.scene.InteractiveScene`类。这个类提供了一个更高级的抽象，可以轻松创建场景。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/create_direct_rl_env.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/create_direct_rl_env.po new file mode 100644 index 0000000000..e27716ee5c --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/create_direct_rl_env.po @@ -0,0 +1,351 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:5 +msgid "Creating a Direct Workflow RL Environment" +msgstr "创建直接工作流RL环境" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:9 +msgid "" +"In addition to the :class:`envs.ManagerBasedRLEnv` class, which encourages " +"the use of configuration classes for more modular environments, the " +":class:`~omni.isaac.lab.envs.DirectRLEnv` class allows for more direct " +"control in the scripting of environment." +msgstr "" +"除了 :class:`envs.ManagerBasedRLEnv` " +"class外，该class鼓励使用更模块化环境的配置classes，:class:`~omni.isaac.lab.envs.DirectRLEnv` " +"class允许在脚本化环境的情况下更直接地进行控制。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:13 +msgid "" +"Instead of using Manager classes for defining rewards and observations, the " +"direct workflow tasks implement the full reward and observation functions " +"directly in the task script. This allows for more control in the " +"implementation of the methods, such as using pytorch jit features, and " +"provides a less abstracted framework that makes it easier to find the " +"various pieces of code." +msgstr "" +"直接工作流任务不使用Manager " +"classes来定义奖励和观察，直接在任务脚本中直接实现完整的奖励和观察功能。这允许在方法的实现中更多地控制，比如使用pytorch " +"jit功能，并提供了一个更不抽象的框架，使得更容易找到各种代码片段。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:19 +msgid "" +"In this tutorial, we will configure the cartpole environment using the " +"direct workflow implementation to create a task for balancing the pole " +"upright. We will learn how to specify the task using by implementing " +"functions for scene creation, actions, resets, rewards and observations." +msgstr "" +"在这个教程中，我们将使用直接工作流实现来配置cartpole环境，以创建一个平衡竖着的杆子的任务。我们将学习如何通过实现场景创建函数，actions，resets，rewards和observations来指定任务。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:25 +msgid "The Code" +msgstr "代码" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:27 +msgid "" +"For this tutorial, we use the cartpole environment defined in " +"``omni.isaac.lab_tasks.direct.cartpole`` module." +msgstr "在本教程中，我们使用 ``omni.isaac.lab_tasks.direct.cartpole`` 模块中定义的cartpole环境。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst +msgid "Code for cartpole_env.py" +msgstr "cartpole_env.py的代码" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:38 +msgid "The Code Explained" +msgstr "代码解释" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:40 +msgid "" +"Similar to the manager-based environments, a configuration class is defined " +"for the task to hold settings for the simulation parameters, the scene, the " +"actors, and the task. With the direct workflow implementation, the " +":class:`envs.DirectRLEnvCfg` class is used as the base class for " +"configurations. Since the direct workflow implementation does not use Action" +" and Observation managers, the task config should define the number of " +"actions and observations for the environment." +msgstr "" +"与基于manager的环境类似，为了保存设置参数，场景，actors和任务的配置class需要被定义。使用直接工作流实现时，基类的配置是:class:`envs.DirectRLEnvCfg`" +" class。由于直接工作流实现不使用动作和观察manager，任务配置应该定义环境中的actions和observations的数量。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:55 +msgid "" +"The config class can also be used to define task-specific attributes, such " +"as scaling for reward terms and thresholds for reset conditions." +msgstr "配置类也可以用来定义具体任务的属性，比如奖励项的缩放和重置条件的阈值。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:74 +msgid "" +"When creating a new environment, the code should define a new class that " +"inherits from :class:`~omni.isaac.lab.envs.DirectRLEnv`." +msgstr "" +"当创建一个新的环境时，代码应该定义一个新的class，该class继承自 " +":class:`~omni.isaac.lab.envs.DirectRLEnv`。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:84 +msgid "" +"The class can also hold class variables that are accessible by all functions" +" in the class, including functions for applying actions, computing resets, " +"rewards, and observations." +msgstr "" +"这个class还可以定义可以被该class中的所有函数访问的class变量，包括应用actions、计算resets、rewards和observations的函数。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:88 +msgid "Scene Creation" +msgstr "场景创建" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:90 +msgid "" +"In contrast to manager-based environments where the scene creation is taken " +"care of by the framework, the direct workflow implementation provides " +"flexibility for users to implement their own scene creation function. This " +"includes adding actors into the stage, cloning the environments, filtering " +"collisions between the environments, adding the actors into the scene, and " +"adding any additional props to the scene, such as ground plane and lights. " +"These operations should be implemented in the ``_setup_scene(self)`` method." +msgstr "" +"与基于manager的环境相反，在这里场景的创建被框架处理，直接工作流实现提供了灵活性，让用户可以自己实现他们的场景创建函数。这包括在主舞台中添加actors，克隆环境，过滤环境间的碰撞，将actors添加到场景中，并在场景中添加任何其他的道具，比如地面平面和灯光。这些操作应该在" +" ``_setup_scene(self)`` 方法中实现。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:102 +msgid "Defining Rewards" +msgstr "定义奖励" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:104 +msgid "" +"Reward function should be defined in the ``_get_rewards(self)`` API, which " +"returns the reward buffer as a return value. Within this function, the task " +"is free to implement the logic of the reward function. In this example, we " +"implement a Pytorch JIT function that computes the various components of the" +" reward function." +msgstr "" +"奖励函数应该在 ``_get_rewards(self)`` " +"API中定义，它将奖励缓冲区作为返回值。在这个函数中，任务可以自由实现奖励函数的逻辑。在这个例子中，我们实现了一个使用Pytorch " +"JIT功能来计算奖励函数的各个组成部分的函数。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:149 +msgid "Defining Observations" +msgstr "定义观察" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:151 +msgid "" +"The observation buffer should be computed in the ``_get_observations(self)``" +" function, which constructs the observation buffer for the environment. At " +"the end of this API, a dictionary should be returned that contains " +"``policy`` as the key, and the full observation buffer as the value. For " +"asymmetric policies, the dictionary should also include the key ``critic`` " +"and the states buffer as the value." +msgstr "" +"观察缓冲区应该在 ``_get_observations(self)`` " +"函数中计算，这个函数构造了环境的观察缓冲区。在这个API的末尾，应该返回一个包含 ``policy`` " +"作为key和完整观察缓冲区作为value的字典。对于异态策略，字典还应该包括 key ``critic`` 和状态缓冲区作为value。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:162 +msgid "Computing Dones and Performing Resets" +msgstr "计算dones和执行resets" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:164 +msgid "" +"Populating the ``dones`` buffer should be done in the ``_get_dones(self)`` " +"method. This method is free to implement logic that computes which " +"environments would need to be reset and which environments have reached the " +"episode length limit. Both results should be returned by the " +"``_get_dones(self)`` function, in the form of a tuple of boolean tensors." +msgstr "" +"``dones`` 缓冲区的填充应该在 ``_get_dones(self)`` " +"方法中完成。这个方法可以自由地实现逻辑，来计算哪些环境需要被reset，哪些环境已经达到了episode长度的限制。两个结果都应该由 " +"``_get_dones(self)`` 函数返回，以布尔张量的形式返回。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:173 +msgid "" +"Once the indices for environments requiring reset have been computed, the " +"``_reset_idx(self, env_ids)`` function performs the reset operations on " +"those environments. Within this function, new states for the environments " +"requiring reset should be set directly into simulation." +msgstr "" +"一旦计算出需要reset的环境的索引，``_reset_idx(self, env_ids)`` " +"函数就执行这些环境的reset操作。在这个函数内，对需要reset的环境的新状态应该被直接设置到模拟中。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:182 +msgid "Applying Actions" +msgstr "应用actions" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:184 +msgid "" +"There are two APIs that are designed for working with actions. The " +"``_pre_physics_step(self, actions)`` takes in actions from the policy as an " +"argument and is called once per RL step, prior to taking any physics steps. " +"This function can be used to process the actions buffer from the policy and " +"cache the data in a class variable for the environment." +msgstr "" +"有两个API被设计用来处理actions。``_pre_physics_step(self, actions)`` " +"以来自策略的actions作为参数，并且在每个RL步骤之前调用，先于任何物理步骤。这个函数可以用来处理来自policy的actions缓冲区，并且在环境的类变量中缓存数据。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:192 +msgid "" +"The ``_apply_action(self)`` API is called ``decimation`` number of times for" +" each RL step, prior to taking each physics step. This provides more " +"flexibility for environments where actions should be applied for each " +"physics step." +msgstr "" +"``_apply_action(self)`` API被称为每个RL步骤 ``decimation`` " +"次，先于每个物理步骤。这为那些需要对每个物理步骤应用actions的环境提供了更大的灵活性。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:202 +msgid "The Code Execution" +msgstr "代码执行" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:204 +msgid "" +"To run training for the direct workflow Cartpole environment, we can use the" +" following command:" +msgstr "为了对直接工作流cartpole环境进行训练，我们可以使用以下命令：" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:210 +msgid "" +"All direct workflow tasks have the suffix ``-Direct`` added to the task name" +" to differentiate the implementation style." +msgstr "所有直接工作流任务的后缀都增加 ``-Direct`` 以区分实现的风格。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:214 +msgid "Domain Randomization" +msgstr "领域随机化" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:216 +msgid "" +"In the direct workflow, domain randomization configuration uses the " +":class:`~omni.isaac.lab.utils.configclass` module to specify a configuration" +" class consisting of :class:`~managers.EventTermCfg` variables." +msgstr "" +"在直接工作流中，领域随机化配置使用 :class:`~omni.isaac.lab.utils.configclass` 模块来指定由 " +":class:`~managers.EventTermCfg` 变量组成的配置 class。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:219 +msgid "Below is an example of a configuration class for domain randomization:" +msgstr "下面是领域随机化的一个配置类的示例" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:259 +msgid "" +"Each ``EventTerm`` object is of the :class:`~managers.EventTermCfg` class " +"and takes in a ``func`` parameter for specifying the function to call during" +" randomization, a ``mode`` parameter, which can be ``startup``, ``reset`` or" +" ``interval``. THe ``params`` dictionary should provide the necessary " +"arguments to the function that is specified in the ``func`` parameter. " +"Functions specified as ``func`` for the ``EventTerm`` can be found in the " +":class:`~envs.mdp.events` module." +msgstr "" +"每个 ``EventTerm`` 对象都是 :class:`~managers.EventTermCfg` class，并接受 ``func`` " +"参数来指定随机化期间要调用的函数，``mode`` 参数，可以是 ``startup`` ，``reset`` 或 ``interval``。 " +"``params`` 字典应该提供函数指定 ``func`` 参数所需要的必要参数。作为 ``EventTerm`` 的 ``func`` " +"指定的函数可以在 :class:`~envs.mdp.events` 模块中找到。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:265 +msgid "" +"Note that as part of the ``\"asset_cfg\": SceneEntityCfg(\"robot\", " +"body_names=\".*\")`` parameter, the name of the actor ``\"robot\"`` is " +"provided, along with the body or joint names specified as a regex " +"expression, which will be the actors and bodies/joints that will have " +"randomization applied." +msgstr "" +"注意，作为 ``\"asset_cfg\": SceneEntityCfg(\"robot\", body_names=\".*\")`` " +"参数的一部分，提供了actor ``\"robot\"`` " +"的名称，以及作为正则表达式指定的body或joint名称，这些名称将是将随机化应用于的actors和body/joints。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:269 +msgid "" +"Once the ``configclass`` for the randomization terms have been set up, the " +"class must be added to the base config class for the task and be assigned to" +" the variable ``events``." +msgstr "一旦随机化术语的 ``configclass`` 被设置好，这个class必须被添加到任务的基类配置、并分配给变量 ``events``。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:280 +msgid "Action and Observation Noise" +msgstr "Action和Observation噪声" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:282 +msgid "" +"Actions and observation noise can also be added using the " +":class:`~utils.configclass` module. Action and observation noise configs " +"must be added to the main task config using the ``action_noise_model`` and " +"``observation_noise_model`` variables:" +msgstr "" +"可以使用 :class:`~utils.configclass` 模块来添加action和观察噪声配置。动作和观察噪声配置必须被添加到主任务配置，使用 " +"``action_noise_model`` and ``observation_noise_model`` 变量：" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:304 +msgid "" +":class:`~.utils.noise.NoiseModelWithAdditiveBiasCfg` can be used to sample " +"both uncorrelated noise per step as well as correlated noise that is re-" +"sampled at reset time." +msgstr "" +":class:`~.utils.noise.NoiseModelWithAdditiveBiasCfg` " +"可以用来对每次步长进行不相关噪声的抽样，并且对在重设时进行重新抽样的相关噪声进行抽样。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:307 +msgid "" +"The ``noise_cfg`` term specifies the Gaussian distribution that will be " +"sampled at each step for all environments. This noise will be added to the " +"corresponding actions and observations buffers at every step." +msgstr "" +"``noise_cfg`` " +"项为每个环境在每步中进行抽样的高斯分布进行了指定。这些噪声将被添加到每个步骤的对应的actions和observations缓冲区中。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:311 +msgid "" +"The ``bias_noise_cfg`` term specifies the Gaussian distribution for the " +"correlated noise that will be sampled at reset time for the environments " +"being reset. The same noise will be applied each step for the remaining of " +"the episode for the environments and resampled at the next reset." +msgstr "" +"``bias_noise_cfg`` " +"项指定了在对被重置的环境进行重新抽样时，在重置时间进行抽样的相关噪声的高斯分布。相同的噪声将被应用于每个步骤，直到环境的剩余阶段，然后在下一次重置时重新抽样。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:316 +msgid "" +"If only per-step noise is desired, :class:`~utils.noise.GaussianNoiseCfg` " +"can be used to specify an additive Gaussian distribution that adds the " +"sampled noise to the input buffer." +msgstr "" +"如果仅仅需要每部噪声，则可以使用 :class:`~utils.noise.GaussianNoiseCfg` " +"来指定一个对输入缓冲区添加抽样噪声的加性高斯分布噪声。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:328 +msgid "" +"In this tutorial, we learnt how to create a direct workflow task environment" +" for reinforcement learning. We do this by extending the base environment to" +" include the scene setup, actions, dones, reset, reward and observaion " +"functions." +msgstr "" +"在本教程中，我们学习了如何为强化学习创建直接工作流任务环境。我们通过扩展基础环境来实现scene setup, actions, dones, " +"reset, reward和observaion函数。" + +#: ../../source/tutorials/03_envs/create_direct_rl_env.rst:331 +msgid "" +"While it is possible to manually create an instance of " +":class:`~omni.isaac.lab.envs.DirectRLEnv` class for a desired task, this is " +"not scalable as it requires specialized scripts for each task. Thus, we " +"exploit the :meth:`gymnasium.make` function to create the environment with " +"the gym interface. We will learn how to do this in the next tutorial." +msgstr "" +"虽然可以手动创建一个 :class:`~omni.isaac.lab.envs.DirectRLEnv` " +"类的实例以适用于所需的任务，但这样做是不可扩展的，因为这需要为每个任务编写专门的脚本。因此，我们利用 :meth:`gymnasium.make` " +"函数来使用gym接口创建环境。我们将在下一个教程中学习如何做到这一点。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/create_manager_base_env.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/create_manager_base_env.po new file mode 100644 index 0000000000..4637985a9c --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/create_manager_base_env.po @@ -0,0 +1,371 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:5 +msgid "Creating a Manager-Based Base Environment" +msgstr "创建基于管理器的基础环境" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:9 +msgid "" +"Environments bring together different aspects of the simulation such as the " +"scene, observations and actions spaces, reset events etc. to create a " +"coherent interface for various applications. In Isaac Lab, manager-based " +"environments are implemented as :class:`envs.ManagerBasedEnv` and " +":class:`envs.ManagerBasedRLEnv` classes. The two classes are very similar, " +"but :class:`envs.ManagerBasedRLEnv` is useful for reinforcement learning " +"tasks and contains rewards, terminations, curriculum and command generation." +" The :class:`envs.ManagerBasedEnv` class is useful for traditional robot " +"control and doesn't contain rewards and terminations." +msgstr "" +"环境将模拟的不同方面（如场景、观察和行动空间、重置事件等）组合在一起，为各种应用程序创建一个连贯的接口。在Isaac " +"Lab中，基于管理器的环境实现为:class:`envs.ManagerBasedEnv`和:class:`envs.ManagerBasedRLEnv`类。这两个类非常相似，但是:class:`envs.ManagerBasedRLEnv`对于强化学习任务非常有用，包含奖励、终止、课程和指令生成。:class:`envs.ManagerBasedEnv`类对于传统机器人控制非常有用，不包含奖励和终止。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:18 +msgid "" +"In this tutorial, we will look at the base class " +":class:`envs.ManagerBasedEnv` and its corresponding configuration class " +":class:`envs.ManagerBasedEnvCfg` for the manager-based workflow. We will use" +" the cartpole environment from earlier to illustrate the different " +"components in creating a new :class:`envs.ManagerBasedEnv` environment." +msgstr "" +"在本教程中，我们将查看:class:`envs.ManagerBasedEnv`的基类和其对应的配置类:class:`envs.ManagerBasedEnvCfg`，用于基于管理器的工作流程。我们将使用之前的cartpole环境来说明如何创建新的:class:`envs.ManagerBasedEnv`环境中的不同组件。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:26 +msgid "The Code" +msgstr "代码" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:28 +msgid "" +"The tutorial corresponds to the ``create_cartpole_base_env`` script in the " +"``source/standalone/tutorials/03_envs`` directory." +msgstr "" +"本教程对应于'dtand-alone/tutorials/03_envs'目录中的'create_cartpole_base_env'脚本。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst +msgid "Code for create_cartpole_base_env.py" +msgstr "create_cartpole_base_env.py的代码" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:41 +msgid "The Code Explained" +msgstr "代码解释" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:43 +msgid "" +"The base class :class:`envs.ManagerBasedEnv` wraps around many intricacies " +"of the simulation interaction and provides a simple interface for the user " +"to run the simulation and interact with it. It is composed of the following " +"components:" +msgstr "" +"基类:class:`envs.ManagerBasedEnv`包装了许多仿真交互的复杂性，并提供了一个简单的接口，供用户运行仿真并与之交互。它由以下组件组成:" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:47 +msgid "" +":class:`scene.InteractiveScene` - The scene that is used for the simulation." +msgstr ":class:`scene.InteractiveScene`-用于仿真的场景。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:48 +msgid ":class:`managers.ActionManager` - The manager that handles actions." +msgstr ":class:`managers.ActionManager`-处理操作的管理器。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:49 +msgid "" +":class:`managers.ObservationManager` - The manager that handles " +"observations." +msgstr ":class:`managers.ObservationManager`-处理观察的管理器。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:50 +msgid "" +":class:`managers.EventManager` - The manager that schedules operations (such" +" as domain randomization) at specified simulation events. For instance, at " +"startup, on resets, or periodic intervals." +msgstr ":class:`managers.EventManager`-在指定的仿真事件上安排操作（例如域随机化）。例如，启动时、重置时或定期间隔。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:53 +msgid "" +"By configuring these components, the user can create different variations of" +" the same environment with minimal effort. In this tutorial, we will go " +"through the different components of the :class:`envs.ManagerBasedEnv` class " +"and how to configure them to create a new environment." +msgstr "" +"通过配置这些组件，用户可以轻松地创建相同环境的不同变体。在本教程中，我们将介绍:class:`envs.ManagerBasedEnv`类的不同组件和如何配置它们以创建新的环境。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:58 +msgid "Designing the scene" +msgstr "设计场景" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:60 +msgid "" +"The first step in creating a new environment is to configure its scene. For " +"the cartpole environment, we will be using the scene from the previous " +"tutorial. Thus, we omit the scene configuration here. For more details on " +"how to configure a scene, see :ref:`tutorial-interactive-scene`." +msgstr "" +"创建新环境的第一步是配置其场景。对于cartpole环境，我们将使用之前教程中的场景。因此，我们在这里省略了场景配置。有关如何配置场景的更多详细信息，请参见:ref:`tutorial-" +"interactive-scene`。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:66 +msgid "Defining actions" +msgstr "定义行动" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:68 +msgid "" +"In the previous tutorial, we directly input the action to the cartpole using" +" the :meth:`assets.Articulation.set_joint_effort_target` method. In this " +"tutorial, we will use the :class:`managers.ActionManager` to handle the " +"actions." +msgstr "" +"在上一个教程中，我们直接使用:meth:`assets.Articulation.set_joint_effort_target`方法将动作直接输入到cartpole。在本教程中，我们将使用:class:`managers.ActionManager`来处理这些动作。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:72 +msgid "" +"The action manager can comprise of multiple :class:`managers.ActionTerm`. " +"Each action term is responsible for applying *control* over a specific " +"aspect of the environment. For instance, for robotic arm, we can have two " +"action terms -- one for controlling the joints of the arm, and the other for" +" controlling the gripper. This composition allows the user to define " +"different control schemes for different aspects of the environment." +msgstr "" +"动作管理器可以包含多个:class:`managers.ActionTerm`。每个动作期限负责在环境的特定方面上应用*控制*。例如，对于机器人臂来说，我们可以有两个行动期限" +" - 一个用于控制手臂的关节，另一个用于控制手爪。这种组合允许用户为不同方面的环境定义不同的控制方案。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:78 +msgid "" +"In the cartpole environment, we want to control the force applied to the " +"cart to balance the pole. Thus, we will create an action term that controls " +"the force applied to the cart." +msgstr "在cartpole环境中，我们希望控制施加在小车上来平衡杆的力。因此，我们将创建一个行动期限，用于控制施加在小车上的力。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:86 +msgid "Defining observations" +msgstr "定义观察" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:88 +msgid "" +"While the scene defines the state of the environment, the observations " +"define the states that are observable by the agent. These observations are " +"used by the agent to make decisions on what actions to take. In Isaac Lab, " +"the observations are computed by the :class:`managers.ObservationManager` " +"class." +msgstr "" +"虽然场景定义了环境的状态，但观察定义了代理可以观察到的状态。这些观察由:class:`managers.ObservationManager`类计算。代理使用这些观察来决定采取哪些行动。在Isaac" +" Lab中，观察是由:class:`managers.ObservationManager`类计算的。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:93 +msgid "" +"Similar to the action manager, the observation manager can comprise of " +"multiple observation terms. These are further grouped into observation " +"groups which are used to define different observation spaces for the " +"environment. For instance, for hierarchical control, we may want to define " +"two observation groups -- one for the low level controller and the other for" +" the high level controller. It is assumed that all the observation terms in " +"a group have the same dimensions." +msgstr "" +"与动作管理器类似，观察管理器可以包含多个观察期限。这些进一步分组成观察组，用于为环境定义不同的观察空间。例如，对于分层控制，我们可能想为低级控制器和高级控制器定义两个观察组。假定观察组中的所有观察期限具有相同的维度。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:99 +msgid "" +"For this tutorial, we will only define one observation group named " +"``\"policy\"``. While not completely prescriptive, this group is a necessary" +" requirement for various wrappers in Isaac Lab. We define a group by " +"inheriting from the :class:`managers.ObservationGroupCfg` class. This class " +"collects different observation terms and help define common properties for " +"the group, such as enabling noise corruption or concatenating the " +"observations into a single tensor." +msgstr "" +"对于本教程，我们只定义一个名为\"policy\"的观察组。虽然不是完全规定性的，但这个组是Isaac " +"Lab中各种包装器的必要要求。我们通过从:class:`managers.ObservationGroupCfg`类继承来定义一个组。此类收集不同的观察期限，并帮助定义组的公共属性，例如启用噪声损坏或将观察结果连接到单个张量中。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:105 +msgid "" +"The individual terms are defined by inheriting from the " +":class:`managers.ObservationTermCfg` class. This class takes in the " +":attr:`managers.ObservationTermCfg.func` that specifies the function or " +"callable class that computes the observation for that term. It includes " +"other parameters for defining the noise model, clipping, scaling, etc. " +"However, we leave these parameters to their default values for this " +"tutorial." +msgstr "" +"通过从:class:`managers.ObservationTermCfg`类继承来定义单个期限 " +"。此类接受定义了观察期限的函数或可调用类的:class:`managers.ObservationTermCfg.func`。它包括用于定义噪声模型、剪切、缩放等的其他参数。但是，我们在本教程中将这些参数保留到它们的默认值。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:116 +msgid "Defining events" +msgstr "定义事件" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:118 +msgid "" +"At this point, we have defined the scene, actions and observations for the " +"cartpole environment. The general idea for all these components is to define" +" the configuration classes and then pass them to the corresponding managers." +" The event manager is no different." +msgstr "" +"此时，我们已经为cartpole环境定义了场景、行动和观察。所有这些组件的一般思想是定义配置类，然后将它们传递给相应的管理器。事件管理器也不例外。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:122 +msgid "" +"The :class:`managers.EventManager` class is responsible for events " +"corresponding to changes in the simulation state. This includes resetting " +"(or randomizing) the scene, randomizing physical properties (such as mass, " +"friction, etc.), and varying visual properties (such as colors, textures, " +"etc.). Each of these are specified through the " +":class:`managers.EventTermCfg` class, which takes in the " +":attr:`managers.EventTermCfg.func` that specifies the function or callable " +"class that performs the event." +msgstr "" +":class:`managers.EventManager`类负责对仿真状态更改所对应的事件。这包括重置（或随机化）场景、随机物理属性（例如质量、摩擦力等）以及更改视觉属性（例如颜色、纹理等）。每个事件都是通过:class:`managers.EventTermCfg`类指定的，它接受:class:`managers.EventTermCfg.func`，该属性指定执行事件的函数或可调用类。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:129 +msgid "" +"Additionally, it expects the **mode** of the event. The mode specifies when " +"the event term should be applied. It is possible to specify your own mode. " +"For this, you'll need to adapt the :class:`~envs.ManagerBasedEnv` class. " +"However, out of the box, Isaac Lab provides three commonly used modes:" +msgstr "" +"另外，它期望事件的**模式**。模式指定何时应用事件期限。可以指定自己的模式。为此，您需要调整:class:`~envs.ManagerBasedEnv`类。但是，Isaac" +" Lab提供了三种常用模式:" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:133 +msgid "``\"startup\"`` - Event that takes place only once at environment startup." +msgstr "\" startup \" - 只在环境启动时发生的事件。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:134 +msgid "``\"reset\"`` - Event that occurs on environment termination and reset." +msgstr "\"reset\" - 环境终止和重置时出现的事件。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:135 +msgid "" +"``\"interval\"`` - Event that are executed at a given interval, i.e., " +"periodically after a certain number of steps." +msgstr "\"间隔\" - 按给定间隔执行的事件，即在一定步数之后定期执行。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:137 +msgid "" +"For this example, we define events that randomize the pole's mass on " +"startup. This is done only once since this operation is expensive and we " +"don't want to do it on every reset. We also create an event to randomize the" +" initial joint state of the cartpole and the pole at every reset." +msgstr "" +"对于此示例，我们定义了在启动时随机化杆的质量的事件。这仅在运行一次，因为此操作很昂贵，我们不希望在每次重置时都这样做。我们还创建了一个事件，将每次重置时的cartpole和杆的初始关节状态随机化。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:146 +msgid "Tying it all together" +msgstr "将所有这些组件结合起来" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:148 +msgid "" +"Having defined the scene and manager configurations, we can now define the " +"environment configuration through the :class:`envs.ManagerBasedEnvCfg` " +"class. This class takes in the scene, action, observation and event " +"configurations." +msgstr "" +"定义了场景和管理器配置之后，现在可以通过:class:`envs.ManagerBasedEnvCfg`类定义环境配置。该类接受场景、行动、观察和事件配置。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:152 +msgid "" +"In addition to these, it also takes in the " +":attr:`envs.ManagerBasedEnvCfg.sim` which defines the simulation parameters " +"such as the timestep, gravity, etc. This is initialized to the default " +"values, but can be modified as needed. We recommend doing so by defining the" +" :meth:`__post_init__` method in the :class:`envs.ManagerBasedEnvCfg` class," +" which is called after the configuration is initialized." +msgstr "" +"除这些配置之外，它还接受:class:`envs.ManagerBasedEnvCfg.sim`，该属性定义仿真参数，例如时间步长、重力等。这初始化为默认值，但可以根据需要进行修改。我们建议通过在:class:`envs.ManagerBasedEnvCfg`类中定义:meth:`__post_init__`方法来执行此操作，该方法在初始化配置后调用。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:162 +msgid "Running the simulation" +msgstr "运行仿真" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:164 +msgid "" +"Lastly, we revisit the simulation execution loop. This is now much simpler " +"since we have abstracted away most of the details into the environment " +"configuration. We only need to call the :meth:`envs.ManagerBasedEnv.reset` " +"method to reset the environment and :meth:`envs.ManagerBasedEnv.step` method" +" to step the environment. Both these functions return the observation and an" +" info dictionary which may contain additional information provided by the " +"environment. These can be used by an agent for decision-making." +msgstr "" +"最后，我们重新访问仿真执行循环。现在，由于我们已经将大部分细节抽象出到环境配置中，因此这非常简单。我们只需要调用:meth:`envs.ManagerBasedEnv.reset`方法重置环境，并调用:meth:`envs.ManagerBasedEnv.step`方法来步进环境。这些函数都返回观察和信息字典，其中可能包含环境提供的其他信息。这些都可以被代理用于决策制定。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:171 +msgid "" +"The :class:`envs.ManagerBasedEnv` class does not have any notion of " +"terminations since that concept is specific for episodic tasks. Thus, the " +"user is responsible for defining the termination condition for the " +"environment. In this tutorial, we reset the simulation at regular intervals." +msgstr "" +":class:`envs.ManagerBasedEnv`类没有终止的概念，因为该概念特定于情节任务。因此，用户负责为环境定义终止条件。在本教程中，我们在定期间隔重置仿真。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:179 +msgid "" +"An important thing to note above is that the entire simulation loop is " +"wrapped inside the :meth:`torch.inference_mode` context manager. This is " +"because the environment uses PyTorch operations under-the-hood and we want " +"to ensure that the simulation is not slowed down by the overhead of " +"PyTorch's autograd engine and gradients are not computed for the simulation " +"operations." +msgstr "" +"需要注意的重要事情是整个仿真循环都包装在:meth:`torch.inference_mode`上下文管理器中。这是因为环境在幕后使用了PyTorch操作，我们希望确保仿真不会被PyTorch的自动求导引擎减慢速度，并且不会为仿真操作计算梯度。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:187 +msgid "The Code Execution" +msgstr "代码运行" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:189 +msgid "" +"To run the base environment made in this tutorial, you can use the following" +" command:" +msgstr "要运行此教程中制作的基本环境，可以使用以下命令：" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:196 +msgid "" +"This should open a stage with a ground plane, light source, and cartpoles. " +"The simulation should be playing with random actions on the cartpole. " +"Additionally, it opens a UI window on the bottom right corner of the screen " +"named ``\"Isaac Lab\"``. This window contains different UI elements that can" +" be used for debugging and visualization." +msgstr "" +"这应该会打开一个带有地面平面、光源和车杆的舞台。仿真应该在车杆上随机运动。此外，它还在屏幕右下角打开了一个名为\"Isaac " +"Lab\"的UI窗口。此窗口包含可以用于调试和可视化的不同UI元素。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:201 +msgid "" +"To stop the simulation, you can either close the window, or press ``Ctrl+C``" +" in the terminal where you started the simulation." +msgstr "要停止仿真，可以关闭窗口，或在启动仿真的终端中按“Ctrl+C”。" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:204 +msgid "" +"In this tutorial, we learned about the different managers that help define a" +" base environment. We include more examples of defining the base environment" +" in the ``source/standalone/tutorials/03_envs`` directory. For completeness," +" they can be run using the following commands:" +msgstr "" +"在本教程中，我们了解了帮助定义基本环境的不同管理器。我们在'dtand-" +"alone/tutorials/03_envs'目录中包含了更多定义基本环境的示例。为了完整起见，它们可以使用以下命令运行:" + +#: ../../source/tutorials/03_envs/create_manager_base_env.rst:217 +msgid "" +"In the following tutorial, we will look at the " +":class:`envs.ManagerBasedRLEnv` class and how to use it to create a " +"Markovian Decision Process (MDP)." +msgstr "" +"在下一个教程中，我们将查看:class:`envs.ManagerBasedRLEnv`类，以及如何使用它来创建马尔可夫决策过程（MDP）。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/create_manager_rl_env.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/create_manager_rl_env.po new file mode 100644 index 0000000000..43a984be4a --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/create_manager_rl_env.po @@ -0,0 +1,342 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:5 +msgid "Creating a Manager-Based RL Environment" +msgstr "创建基于Manager的RL环境" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:9 +msgid "" +"Having learnt how to create a base environment in :ref:`tutorial-create-" +"manager-base-env`, we will now look at how to create a manager-based task " +"environment for reinforcement learning." +msgstr "" +"在:ref:`tutorial-create-manager-base-" +"env`中学习了如何创建基本环境之后，我们现在将看看如何为强化学习创建基于manager的任务环境。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:12 +msgid "" +"The base environment is designed as an sense-act environment where the agent" +" can send commands to the environment and receive observations from the " +"environment. This minimal interface is sufficient for many applications such" +" as traditional motion planning and controls. However, many applications " +"require a task-specification which often serves as the learning objective " +"for the agent. For instance, in a navigation task, the agent may be required" +" to reach a goal location. To this end, we use the " +":class:`envs.ManagerBasedRLEnv` class which extends the base environment to " +"include a task specification." +msgstr "" +"基本环境被设计为一种感知-" +"行为环境，其中代理可以向环境发送命令，并从环境中接收观察。这种最小接口对于许多应用程序是足够的，例如传统的运动规划和控制。然而，许多应用程序需要任务规范，这通常用作代理的学习目标。例如，在导航任务中，代理可能需要到达目标位置。为此，我们使用:class:`envs.ManagerBasedRLEnv`类，该类将基本环境扩展为包括任务规范。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:19 +msgid "" +"Similar to other components in Isaac Lab, instead of directly modifying the " +"base class :class:`envs.ManagerBasedRLEnv`, we encourage users to simply " +"implement a configuration :class:`envs.ManagerBasedRLEnvCfg` for their task " +"environment. This practice allows us to separate the task specification from" +" the environment implementation, making it easier to reuse components of the" +" same environment for different tasks." +msgstr "" +"与Isaac " +"Lab中的其他组件类似，我们鼓励用户不要直接修改基类:class:`envs.ManagerBasedRLEnv`，而是简单实现一个配置:class:`envs.ManagerBasedRLEnvCfg`供他们的任务环境使用。这种做法使我们能够将任务规范从环境实现中分离出来，使得为不同的任务重用相同环境的组件变得更容易。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:24 +msgid "" +"In this tutorial, we will configure the cartpole environment using the " +":class:`envs.ManagerBasedRLEnvCfg` to create a manager-based task for " +"balancing the pole upright. We will learn how to specify the task using " +"reward terms, termination criteria, curriculum and commands." +msgstr "" +"在本教程中，我们将使用:class:`envs.ManagerBasedRLEnvCfg`来配置cartpole环境，以创建一个基于manager的任务，即使杆保持垂直。我们将学习如何使用奖励项、终止条件、课程表和命令来指定任务。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:30 +msgid "The Code" +msgstr "代码" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:32 +msgid "" +"For this tutorial, we use the cartpole environment defined in " +"``omni.isaac.lab_tasks.manager_based.classic.cartpole`` module." +msgstr "" +"对于本教程，我们使用``omni.isaac.lab_tasks.manager_based.classic.cartpole``模块中定义的cartpole环境。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst +msgid "Code for cartpole_env_cfg.py" +msgstr "用于cartpole_env_cfg.py的代码" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:42 +msgid "" +"The script for running the environment ``run_cartpole_rl_env.py`` is present" +" in the ``isaaclab/source/standalone/tutorials/03_envs`` directory. The " +"script is similar to the ``cartpole_base_env.py`` script in the previous " +"tutorial, except that it uses the :class:`envs.ManagerBasedRLEnv` instead of" +" the :class:`envs.ManagerBasedEnv`." +msgstr "" +"用于运行环境的脚本``run_cartpole_rl_env.py``位于``isaaclab/source/standalone/tutorials/03_envs``目录中。该脚本与上一个教程中的``cartpole_base_env.py``脚本类似，不同之处仅在于它使用:class:`envs.ManagerBasedRLEnv`代替:class:`envs.ManagerBasedEnv`。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst +msgid "Code for run_cartpole_rl_env.py" +msgstr "用于run_cartpole_rl_env.py的代码" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:57 +msgid "The Code Explained" +msgstr "代码解释" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:59 +msgid "" +"We already went through parts of the above in the :ref:`tutorial-create-" +"manager-base-env` tutorial to learn about how to specify the scene, " +"observations, actions and events. Thus, in this tutorial, we will focus only" +" on the RL components of the environment." +msgstr "" +"我们已经在:ref:`tutorial-create-manager-base-" +"env`教程中部分讨论了上述内容，以了解如何指定场景、观察、动作和事件。因此，在本教程中，我们将只关注环境的RL组件。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:63 +msgid "" +"In Isaac Lab, we provide various implementations of different terms in the " +":mod:`envs.mdp` module. We will use some of these terms in this tutorial, " +"but users are free to define their own terms as well. These are usually " +"placed in their task-specific sub-package (for instance, in " +":mod:`omni.isaac.lab_tasks.manager_based.classic.cartpole.mdp`)." +msgstr "" +"在Isaac " +"Lab中，我们在:mod:`envs.mdp`模块中提供了不同术语的各种实现。在本教程中，我们将使用其中一些术语，但用户也可以自由定义自己的术语。这些通常放在其特定于任务的子包中（例如，在:mod:`omni.isaac.lab_tasks.manager_based.classic.cartpole.mdp`中）。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:70 +msgid "Defining rewards" +msgstr "定义奖励" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:72 +msgid "" +"The :class:`managers.RewardManager` is used to compute the reward terms for " +"the agent. Similar to the other managers, its terms are configured using the" +" :class:`managers.RewardTermCfg` class. The :class:`managers.RewardTermCfg` " +"class specifies the function or callable class that computes the reward as " +"well as the weighting associated with it. It also takes in dictionary of " +"arguments, ``\"params\"`` that are passed to the reward function when it is " +"called." +msgstr "" +":class:`managers.RewardManager`用于计算代理的奖励术语。与其他管理类似，它的术语是使用:class:`managers.RewardTermCfg`类配置的。:class:`managers.RewardTermCfg`类指定计算奖励的函数或可调用类，以及与之关联的加权。它还接受一个参数字典``\"params\"``，在调用奖励函数时传递给奖励函数。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:78 +msgid "For the cartpole task, we will use the following reward terms:" +msgstr "对于cartpole任务，我们将使用以下奖励术语：" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:80 +msgid "" +"**Alive Reward**: Encourage the agent to stay alive for as long as possible." +msgstr "**存活奖励**：鼓励代理尽可能长时间地保持存活。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:81 +msgid "**Terminating Reward**: Similarly penalize the agent for terminating." +msgstr "**终止奖励**：同样地，惩罚代理终止。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:82 +msgid "" +"**Pole Angle Reward**: Encourage the agent to keep the pole at the desired " +"upright position." +msgstr "**杆角度奖励**：鼓励代理保持杆处于期望的直立位置。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:83 +msgid "" +"**Cart Velocity Reward**: Encourage the agent to keep the cart velocity as " +"small as possible." +msgstr "**小车速度奖励**：鼓励代理尽可能小地保持小车速度。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:84 +msgid "" +"**Pole Velocity Reward**: Encourage the agent to keep the pole velocity as " +"small as possible." +msgstr "**杆速度奖励**：鼓励代理尽可能小地保持杆速度。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:91 +msgid "Defining termination criteria" +msgstr "定义终止条件" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:93 +msgid "" +"Most learning tasks happen over a finite number of steps that we call an " +"episode. For instance, in the cartpole task, we want the agent to balance " +"the pole for as long as possible. However, if the agent reaches an unstable " +"or unsafe state, we want to terminate the episode. On the other hand, if the" +" agent is able to balance the pole for a long time, we want to terminate the" +" episode and start a new one so that the agent can learn to balance the pole" +" from a different starting configuration." +msgstr "" +"大多数学习任务发生在有限步骤中，我们称之为一个episode。例如，在cartpole任务中，我们希望代理尽可能长时间地保持平衡杆。然而，如果代理达到一个不稳定或不安全的状态，我们希望终止这一episode。另一方面，如果代理能够长时间地保持平衡杆，我们希望终止这一episode，并开始一个新的episode，以便代理可以学会在不同的起始配置下保持平衡杆。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:99 +msgid "" +"The :class:`managers.TerminationsCfg` configures what constitutes for an " +"episode to terminate. In this example, we want the task to terminate when " +"either of the following conditions is met:" +msgstr "" +":class:`managers.TerminationsCfg`配置了何时终止一个episode。在本例中，我们希望在满足以下条件之一时终止任务：" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:102 +msgid "" +"**Episode Length** The episode length is greater than the defined " +"max_episode_length" +msgstr "**episode长度**：episode长度大于定义的max_episode_length" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:103 +msgid "**Cart out of bounds** The cart goes outside of the bounds [-3, 3]" +msgstr "**小车超出边界**：小车超出边界[-3, 3]" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:105 +msgid "" +"The flag :attr:`managers.TerminationsCfg.time_out` specifies whether the " +"term is a time-out (truncation) term or terminated term. These are used to " +"indicate the two types of terminations as described in `Gymnasium's " +"documentation " +"`_." +msgstr "" +"标志:attr:`managers.TerminationsCfg.time_out`指定该术语是超时（截断）术语还是终止术语。这些术语用于指示`Gymnasium文档中描述的两种终止类型" +" " +"`_。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:114 +msgid "Defining commands" +msgstr "定义命令" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:116 +msgid "" +"For various goal-conditioned tasks, it is useful to specify the goals or " +"commands for the agent. These are handled through the " +":class:`managers.CommandManager`. The command manager handles resampling and" +" updating the commands at each step. It can also be used to provide the " +"commands as an observation to the agent." +msgstr "" +"对于各种目标驱动的任务，指定代理的目标或命令很有用。这些通过:class:`managers.CommandManager`处理。命令管理器处理在每一步中重新采样和更新命令。它还可以用作代理的观察作为命令提供。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:120 +msgid "" +"For this simple task, we do not use any commands. This is specified by using" +" a command term with the :class:`envs.mdp.NullCommandCfg` configuration. " +"However, you can see an example of command definitions in the locomotion or " +"manipulation tasks." +msgstr "" +"对于这个简单的任务，我们不使用任何命令。这是通过使用一个带有:class:`envs.mdp.NullCommandCfg`配置的命令术语来指定的。然而，您可以在运动或操作任务中看到命令定义的一个例子。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:129 +msgid "Defining curriculum" +msgstr "定义课程表" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:131 +msgid "" +"Often times when training a learning agent, it helps to start with a simple " +"task and gradually increase the tasks's difficulty as the agent training " +"progresses. This is the idea behind curriculum learning. In Isaac Lab, we " +"provide a :class:`managers.CurriculumManager` class that can be used to " +"define a curriculum for your environment." +msgstr "" +"在训练学习代理时，通常帮助从一个简单的任务开始，随着代理训练的进行逐渐增加任务的难度。这就是课程学习的理念。在Isaac " +"Lab中，我们提供一个:class:`managers.CurriculumManager`类，可以用来为您的环境定义一个课程表。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:135 +msgid "" +"In this tutorial we don't implement a curriculum for simplicity, but you can" +" see an example of a curriculum definition in the other locomotion or " +"manipulation tasks. We use a simple pass-through curriculum to define a " +"curriculum manager that does not modify the environment." +msgstr "" +"在本教程中，为了简单起见，我们没有实施课程表，但您可以在其他运动或操作任务中看到对课程表定义的一个例子。我们使用一个简单的透传课程表来定义一个不修改环境的课程表管理器。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:144 +msgid "Tying it all together" +msgstr "全部联系在一起" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:146 +msgid "" +"With all the above components defined, we can now create the " +":class:`ManagerBasedRLEnvCfg` configuration for the cartpole environment. " +"This is similar to the :class:`ManagerBasedEnvCfg` defined in " +":ref:`tutorial-create-manager-base-env`, only with the added RL components " +"explained in the above sections." +msgstr "" +"有了以上定义的所有组件，我们现在可以为cartpole环境创建:class:`ManagerBasedRLEnvCfg`配置。这与在:ref:`tutorial-" +"create-manager-base-env`中定义的:class:`ManagerBasedEnvCfg`类似，只是增加了上述部分中解释的RL组件。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:155 +msgid "Running the simulation loop" +msgstr "运行仿真循环" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:157 +msgid "" +"Coming back to the ``run_cartpole_rl_env.py`` script, the simulation loop is" +" similar to the previous tutorial. The only difference is that we create an " +"instance of :class:`envs.ManagerBasedRLEnv` instead of the " +":class:`envs.ManagerBasedEnv`. Consequently, now the " +":meth:`envs.ManagerBasedRLEnv.step` method returns additional signals such " +"as the reward and termination status. The information dictionary also " +"maintains logging of quantities such as the reward contribution from " +"individual terms, the termination status of each term, the episode length " +"etc." +msgstr "" +"回到``run_cartpole_rl_env.py``脚本，仿真循环与上一个教程类似。唯一的区别是我们现在创建:class:`envs.ManagerBasedRLEnv`的实例，而不是:class:`envs.ManagerBasedEnv`的实例。因此，现在，:meth:`envs.ManagerBasedRLEnv.step`方法返回额外的信号，如奖励和终止状态。信息字典还保持对诸如来自单个术语的奖励贡献、每个术语的终止状态、episode长度等数量的记录。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:169 +msgid "The Code Execution" +msgstr "代码执行" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:171 +msgid "" +"Similar to the previous tutorial, we can run the environment by executing " +"the ``run_cartpole_rl_env.py`` script." +msgstr "与以前的教程类似，我们可以通过执行``run_cartpole_rl_env.py``脚本来运行环境。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:178 +msgid "" +"This should open a similar simulation as in the previous tutorial. However, " +"this time, the environment returns more signals that specify the reward and " +"termination status. Additionally, the individual environments reset " +"themselves when they terminate based on the termination criteria specified " +"in the configuration." +msgstr "" +"这将打开一个与上一个教程类似的仿真。然而，这一次，环境返回更多的信号，指定了奖励和终止状态。此外，当他们根据配置中指定的终止条件终止时，单独的环境会重置自己。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:183 +msgid "" +"To stop the simulation, you can either close the window, or press ``Ctrl+C``" +" in the terminal where you started the simulation." +msgstr "要停止仿真，您可以在您启动仿真的终端中关闭窗口，或者按``Ctrl+C``。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:186 +msgid "" +"In this tutorial, we learnt how to create a task environment for " +"reinforcement learning. We do this by extending the base environment to " +"include the rewards, terminations, commands and curriculum terms. We also " +"learnt how to use the :class:`envs.ManagerBasedRLEnv` class to run the " +"environment and receive various signals from it." +msgstr "" +"在本教程中，我们学习了如何创建一个用于强化学习的任务环境。我们通过扩展基本环境来包括奖励、终止、命令和课程表术语来实现这一点。我们还学习了如何使用:class:`envs.ManagerBasedRLEnv`类来运行环境并从中接收各种信号。" + +#: ../../source/tutorials/03_envs/create_manager_rl_env.rst:191 +msgid "" +"While it is possible to manually create an instance of " +":class:`envs.ManagerBasedRLEnv` class for a desired task, this is not " +"scalable as it requires specialized scripts for each task. Thus, we exploit " +"the :meth:`gymnasium.make` function to create the environment with the gym " +"interface. We will learn how to do this in the next tutorial." +msgstr "" +"尽管可以手动为所需任务创建:class:`envs.ManagerBasedRLEnv`类的实例，但这并不具有可伸缩性，因为它需要为每个任务编写专门的脚本。因此，我们利用:meth:`gymnasium.make`函数来使用gym接口创建环境。我们将在下一个教程中学习如何做到这一点。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/index.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/index.po new file mode 100644 index 0000000000..42718f57e4 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/index.po @@ -0,0 +1,35 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/03_envs/index.rst:2 +msgid "Designing an Environment" +msgstr "设计环境" + +#: ../../source/tutorials/03_envs/index.rst:4 +msgid "" +"The following tutorials introduce the concept of manager-based environments:" +" :class:`~omni.isaac.lab.envs.ManagerBasedEnv` and its derivative " +":class:`~omni.isaac.lab.envs.ManagerBasedRLEnv`, as well as the direct " +"workflow base class :class:`~omni.isaac.lab.envs.DirectRLEnv`. These " +"environments bring-in together different aspects of the framework to create " +"a simulation environment for agent interaction." +msgstr "" +"以下教程介绍了基于管理器的环境的概念：:class:`~omni.isaac.lab.envs.ManagerBasedEnv`和它的派生类:class:`~omni.isaac.lab.envs.ManagerBasedRLEnv`，以及直接工作流基类:class:`~omni.isaac.lab.envs.DirectRLEnv`。这些环境将框架的不同方面汇聚在一起，创建了一个用于代理互动的模拟环境。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/register_rl_env_gym.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/register_rl_env_gym.po new file mode 100644 index 0000000000..826355d95d --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/register_rl_env_gym.po @@ -0,0 +1,233 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:2 +msgid "Registering an Environment" +msgstr "注册环境" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:6 +msgid "" +"In the previous tutorial, we learned how to create a custom cartpole " +"environment. We manually created an instance of the environment by importing" +" the environment class and its configuration class." +msgstr "在上一个教程中，我们学习了如何创建自定义的cartpole环境。我们通过导入环境类和配置类，手动创建了环境的实例。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst +msgid "Environment creation in the previous tutorial" +msgstr "上一个教程中的环境创建" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:18 +msgid "" +"While straightforward, this approach is not scalable as we have a large " +"suite of environments. In this tutorial, we will show how to use the " +":meth:`gymnasium.register` method to register environments with the " +"``gymnasium`` registry. This allows us to create the environment through the" +" :meth:`gymnasium.make` function." +msgstr "" +"尽管直截了当，这种方法并不可扩展，因为我们有一组大量的环境。在本教程中，我们将展示如何使用:meth:`gymnasium.register`方法来在``gymnasium``注册表中注册环境。这允许我们通过:meth:`gymnasium.make`函数创建环境。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst +msgid "Environment creation in this tutorial" +msgstr "本教程中的环境创建" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:33 +msgid "The Code" +msgstr "代码" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:35 +msgid "" +"The tutorial corresponds to the ``random_agent.py`` script in the " +"``source/standalone/environments`` directory." +msgstr "该教程对应于``source/standalone/environments``目录中的``random_agent.py``脚本。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst +msgid "Code for random_agent.py" +msgstr "random_agent.py的代码" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:47 +msgid "The Code Explained" +msgstr "代码解释" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:49 +msgid "" +"The :class:`envs.ManagerBasedRLEnv` class inherits from the " +":class:`gymnasium.Env` class to follow a standard interface. However, unlike" +" the traditional Gym environments, the :class:`envs.ManagerBasedRLEnv` " +"implements a *vectorized* environment. This means that multiple environment " +"instances are running simultaneously in the same process, and all the data " +"is returned in a batched fashion." +msgstr "" +":class:`envs.ManagerBasedRLEnv`类从:class:`gymnasium.Env`类继承，以遵循标准接口。但与传统的Gym环境不同，:class:`envs.ManagerBasedRLEnv`实现了*向量化*环境。这意味着多个环境实例同时在同一进程中运行，并且所有数据都以批量方式返回。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:55 +msgid "" +"Similarly, the :class:`envs.DirectRLEnv` class also inherits from the " +":class:`gymnasium.Env` class for the direct workflow." +msgstr "同样，:class:`envs.DirectRLEnv`类也从:class:`gymnasium.Env`类继承，用于直接工作流程。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:59 +msgid "Using the gym registry" +msgstr "使用gym注册表" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:61 +msgid "" +"To register an environment, we use the :meth:`gymnasium.register` method. " +"This method takes in the environment name, the entry point to the " +"environment class, and the entry point to the environment configuration " +"class." +msgstr "要注册环境，我们使用:meth:`gymnasium.register`方法。该方法接受环境名称、环境类的入口点以及环境配置类的入口点。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:66 +msgid "" +"The :mod:`gymnasium` registry is a global registry. Hence, it is important " +"to ensure that the environment names are unique. Otherwise, the registry " +"will throw an error when registering the environment." +msgstr ":mod:`gymnasium`注册表是一个全局注册表。因此，重要的是要确保环境名称是唯一的。否则，在注册环境时，注册表将抛出错误。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:71 +msgid "Manager-Based Environments" +msgstr "基于管理者的环境" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:73 +msgid "" +"For manager-based environments, the following shows the registration call " +"for the cartpole environment in the " +"``omni.isaac.lab_tasks.manager_based.classic.cartpole`` sub-package:" +msgstr "" +"对于基于管理者的环境，以下显示了``omni.isaac.lab_tasks.manager_based.classic.cartpole``子包中cartpole环境的注册调用：" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:81 +msgid "" +"The ``id`` argument is the name of the environment. As a convention, we name" +" all the environments with the prefix ``Isaac-`` to make it easier to search" +" for them in the registry. The name of the environment is typically followed" +" by the name of the task, and then the name of the robot. For instance, for " +"legged locomotion with ANYmal C on flat terrain, the environment is called " +"``Isaac-Velocity-Flat-Anymal-C-v0``. The version number ``v`` is " +"typically used to specify different variations of the same environment. " +"Otherwise, the names of the environments can become too long and difficult " +"to read." +msgstr "" +"``id``参数是环境的名称。作为惯例，我们为所有环境命名前缀为``Isaac-``以便更容易在注册表中搜索它们。环境的名称通常后跟任务的名称，然后是机器人的名称。例如，对于任何地平面运动，环境称为``Isaac-" +"Velocity-Flat-Anymal-C-v0``。版本号``v``通常用于指定相同环境的不同变体。否则，环境的名称可能会变得过长且难以阅读。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:89 +msgid "" +"The ``entry_point`` argument is the entry point to the environment class. " +"The entry point is a string of the form ``:``. In the case of" +" the cartpole environment, the entry point is " +"``omni.isaac.lab.envs:ManagerBasedRLEnv``. The entry point is used to import" +" the environment class when creating the environment instance." +msgstr "" +"``entry_point``参数是环境类的入口点。入口点是``:``形式的字符串。在cartpole环境的情况下，入口点是``omni.isaac.lab.envs:ManagerBasedRLEnv``。入口点用于在创建环境实例时导入环境类。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:94 +msgid "" +"The ``env_cfg_entry_point`` argument specifies the default configuration for" +" the environment. The default configuration is loaded using the " +":meth:`omni.isaac.lab_tasks.utils.parse_env_cfg` function. It is then passed" +" to the :meth:`gymnasium.make` function to create the environment instance. " +"The configuration entry point can be both a YAML file or a python " +"configuration class." +msgstr "" +"``env_cfg_entry_point``参数指定了环境的默认配置。默认配置使用:meth:`omni.isaac.lab_tasks.utils.parse_env_cfg`函数加载。然后将其传递给:meth:`gymnasium.make`函数以创建环境实例。配置入口点可以是YAML文件，也可以是Python配置类。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:100 +msgid "Direct Environments" +msgstr "直接环境" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:102 +msgid "" +"For direct-based environments, the environment registration follows a " +"similar pattern. Instead of registering the environment's entry point as the" +" :class:`~omni.isaac.lab.envs.ManagerBasedRLEnv` class, we register the " +"environment's entry point as the implementation class of the environment. " +"Additionally, we add the suffix ``-Direct`` to the environment name to " +"differentiate it from the manager-based environments." +msgstr "" +"对于基于直接的环境，环境注册遵循类似的模式。注册环境的入口点不是:class:`~omni.isaac.lab.envs.ManagerBasedRLEnv`类，而是环境的实现类。此外，我们将后缀``-Direct``添加到环境名称中，以使其与基于管理者的环境区分开。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:108 +msgid "" +"As an example, the following shows the registration call for the cartpole " +"environment in the ``omni.isaac.lab_tasks.direct.cartpole`` sub-package:" +msgstr "例如，以下显示了``omni.isaac.lab_tasks.direct.cartpole``子包中cartpole环境的注册调用：" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:118 +msgid "Creating the environment" +msgstr "创建环境" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:120 +msgid "" +"To inform the ``gym`` registry with all the environments provided by the " +"``omni.isaac.lab_tasks`` extension, we must import the module at the start " +"of the script. This will execute the ``__init__.py`` file which iterates " +"over all the sub-packages and registers their respective environments." +msgstr "" +"为了告知``gym``注册表有``omni.isaac.lab_tasks``扩展提供的所有环境，我们必须在脚本的开头导入该模块。这将执行``__init__.py``文件，该文件迭代所有子包并注册它们各自的环境。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:129 +msgid "" +"In this tutorial, the task name is read from the command line. The task name" +" is used to parse the default configuration as well as to create the " +"environment instance. In addition, other parsed command line arguments such " +"as the number of environments, the simulation device, and whether to render," +" are used to override the default configuration." +msgstr "" +"在本教程中，任务名称从命令行中读取。任务名称用于解析默认配置，以及创建环境实例。此外，还使用其他解析的命令行参数，如环境数量、仿真设备和是否渲染，用于覆盖默认配置。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:139 +msgid "" +"Once creating the environment, the rest of the execution follows the " +"standard resetting and stepping." +msgstr "创建环境后，剩下的执行遵循标准的重置和执行步骤。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:143 +msgid "The Code Execution" +msgstr "代码执行" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:145 +msgid "" +"Now that we have gone through the code, let's run the script and see the " +"result:" +msgstr "现在我们已经查看了代码，让我们运行脚本并查看结果：" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:152 +msgid "" +"This should open a stage with everything similar to the :ref:`tutorial-" +"create-manager-rl-env` tutorial. To stop the simulation, you can either " +"close the window, or press ``Ctrl+C`` in the terminal." +msgstr "" +"这应该会打开一个舞台，与:ref:`tutorial-create-manager-rl-" +"env`教程中的一切都很相似。要停止仿真，您可以关闭窗口，也可以在终端中按``Ctrl+C``。" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:155 +msgid "" +"In addition, you can also change the simulation device from GPU to CPU by " +"adding the ``--cpu`` flag:" +msgstr "另外，您还可以通过添加“--cpu”标志将仿真设备从GPU更改为CPU：" + +#: ../../source/tutorials/03_envs/register_rl_env_gym.rst:161 +msgid "" +"With the ``--cpu`` flag, the simulation will run on the CPU. This is useful " +"for debugging the simulation. However, the simulation will run much slower " +"than on the GPU." +msgstr "使用“--cpu”标志，仿真将在CPU上运行。这对于调试仿真很有用。但是，与在GPU上运行相比，仿真速度将慢得多。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/run_rl_training.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/run_rl_training.po new file mode 100644 index 0000000000..a4cc625890 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/03_envs/run_rl_training.po @@ -0,0 +1,259 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:2 +msgid "Training with an RL Agent" +msgstr "使用RL代理进行训练" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:6 +msgid "" +"In the previous tutorials, we covered how to define an RL task environment, " +"register it into the ``gym`` registry, and interact with it using a random " +"agent. We now move on to the next step: training an RL agent to solve the " +"task." +msgstr "" +"在之前的教程中，我们介绍了如何定义一个RL任务环境，将其注册到``gym``注册表中，并使用随机代理与其进行交互。现在我们继续进行下一步：训练一个RL代理来解决这个任务。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:10 +msgid "" +"Although the :class:`envs.ManagerBasedRLEnv` conforms to the " +":class:`gymnasium.Env` interface, it is not exactly a ``gym`` environment. " +"The input and outputs of the environment are not numpy arrays, but rather " +"based on torch tensors with the first dimension being the number of " +"environment instances." +msgstr "" +"尽管 :class:`envs.ManagerBasedRLEnv` 符合 :class:`gymnasium.Env` 接口，但它并不是一个 " +"``gym`` 环境。环境的输入和输出不是 numpy 数组，而是基于 torch 张量，其中第一个维度是环境实例的数量。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:15 +msgid "" +"Additionally, most RL libraries expect their own variation of an environment" +" interface. For example, `Stable-Baselines3`_ expects the environment to " +"conform to its `VecEnv API`_ which expects a list of numpy arrays instead of" +" a single tensor. Similarly, `RSL-RL`_, `RL-Games`_ and `SKRL`_ expect a " +"different interface. Since there is no one-size-fits-all solution, we do not" +" base the :class:`envs.ManagerBasedRLEnv` on any particular learning " +"library. Instead, we implement wrappers to convert the environment into the " +"expected interface. These are specified in the " +":mod:`omni.isaac.lab_tasks.utils.wrappers` module." +msgstr "" +"此外，大多数RL库都希望环境遵循它们自己的环境接口的变体。例如，`Stable-Baselines3`_ 期望环境符合其 `VecEnv " +"API`_，该接口期望一个 numpy 数组列表而不是单个张量。类似地，`RSL-RL`_、`RL-Games`_ 和 `SKRL`_ " +"也期望一个不同的接口。由于没有一劳永逸的解决方案，我们不以任何特定的学习库为基础来构建 " +":class:`envs.ManagerBasedRLEnv`。相反，我们实现了包装器来将环境转换为所期望的接口。这些包装器在 " +":mod:`omni.isaac.lab_tasks.utils.wrappers` 模块中指定。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:23 +msgid "" +"In this tutorial, we will use `Stable-Baselines3`_ to train an RL agent to " +"solve the cartpole balancing task." +msgstr "在本教程中，我们将使用 `Stable-Baselines3`_ 来训练一个RL代理以解决平衡倒立摆任务。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:28 +msgid "" +"Wrapping the environment with the respective learning framework's wrapper " +"should happen in the end, i.e. after all other wrappers have been applied. " +"This is because the learning framework's wrapper modifies the interpretation" +" of environment's APIs which may no longer be compatible with " +":class:`gymnasium.Env`." +msgstr "" +"使用相应学习框架的包装器包装环境应该发生在最后，即在应用所有其他包装器之后。这是因为学习框架的包装器修改了环境API的解释，可能不再兼容 " +":class:`gymnasium.Env`。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:33 +msgid "The Code" +msgstr "代码" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:35 +msgid "" +"For this tutorial, we use the training script from `Stable-Baselines3`_ " +"workflow in the ``source/standalone/workflows/sb3`` directory." +msgstr "" +"在本教程中，我们使用来自`Stable-" +"Baselines3`_工作流中的训练脚本，位于``source/standalone/workflows/sb3``目录中。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst +msgid "Code for train.py" +msgstr "train.py的代码" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:47 +msgid "The Code Explained" +msgstr "代码的解释" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:51 +msgid "" +"Most of the code above is boilerplate code to create logging directories, " +"saving the parsed configurations, and setting up different Stable-Baselines3" +" components. For this tutorial, the important part is creating the " +"environment and wrapping it with the Stable-Baselines3 wrapper." +msgstr "" +"以上大部分代码是用来创建日志目录、保存解析的配置以及设置不同的Stable-" +"Baselines3组件的样板代码。对于本教程而言，重要的部分是创建环境并使用Stable-Baselines3包装器对其进行包装。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:55 +msgid "There are three wrappers used in the code above:" +msgstr "代码中使用了三个包装器：" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:57 +msgid "" +":class:`gymnasium.wrappers.RecordVideo`: This wrapper records a video of the" +" environment and saves it to the specified directory. This is useful for " +"visualizing the agent's behavior during training." +msgstr "" +":class:`gymnasium.wrappers.RecordVideo`：此包装器记录环境的视频并将其保存到指定目录。这对于在训练过程中可视化代理的行为非常有用。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:60 +msgid "" +":class:`wrappers.sb3.Sb3VecEnvWrapper`: This wrapper converts the " +"environment into a Stable-Baselines3 compatible environment." +msgstr "" +":class:`wrappers.sb3.Sb3VecEnvWrapper`：此包装器将环境转换为与Stable-Baselines3兼容的环境。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:62 +msgid "" +"`stable_baselines3.common.vec_env.VecNormalize`_: This wrapper normalizes " +"the environment's observations and rewards." +msgstr "`stable_baselines3.common.vec_env.VecNormalize`_：此包装器对环境的观测和奖励进行归一化。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:65 +msgid "" +"Each of these wrappers wrap around the previous wrapper by following ``env =" +" wrapper(env, *args, **kwargs)`` repeatedly. The final environment is then " +"used to train the agent. For more information on how these wrappers work, " +"please refer to the :ref:`how-to-env-wrappers` documentation." +msgstr "" +"这些包装器都是通过不断执行 ``env = wrapper(env, *args, **kwargs)`` " +"来包装在前一个包装器周围的。然后使用最终环境来训练代理。有关这些包装器的更多信息，请参考 :ref:`how-to-env-wrappers` 文档。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:70 +msgid "The Code Execution" +msgstr "代码执行" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:72 +msgid "" +"We train a PPO agent from Stable-Baselines3 to solve the cartpole balancing " +"task." +msgstr "我们使用来自Stable-Baselines3的PPO代理来解决平衡倒立摆任务。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:75 +msgid "Training the agent" +msgstr "训练代理" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:77 +msgid "" +"There are three main ways to train the agent. Each of them has their own " +"advantages and disadvantages. It is up to you to decide which one you prefer" +" based on your use case." +msgstr "训练代理有三种主要方式。每种方式都有其自身的优点和缺点。根据您的用例，您可以决定哪种方式更适合您。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:81 +msgid "Headless execution" +msgstr "无头执行" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:83 +msgid "" +"If the ``--headless`` flag is set, the simulation is not rendered during " +"training. This is useful when training on a remote server or when you do not" +" want to see the simulation. Typically, it speeds up the training process " +"since only physics simulation step is performed." +msgstr "" +"如果设置了``--headless``标志，则在训练过程中不会呈现模拟。这在在远程服务器上进行训练或者不想查看模拟时非常有用。通常情况下，这可以加快训练过程，因为只执行物理模拟步骤。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:93 +msgid "Headless execution with off-screen render" +msgstr "带离屏渲染的无头执行" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:95 +msgid "" +"Since the above command does not render the simulation, it is not possible " +"to visualize the agent's behavior during training. To visualize the agent's " +"behavior, we pass the ``--enable_cameras`` which enables off-screen " +"rendering. Additionally, we pass the flag ``--video`` which records a video " +"of the agent's behavior during training." +msgstr "" +"由于上述命令不会呈现模拟，因此无法在训练过程中可视化代理的行为。为了可视化代理的行为，我们传递 ``--enable_cameras`` " +"以启用离屏渲染。此外，我们传递标志 ``--video``，该标志记录代理在训练过程中的行为视频。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:104 +msgid "" +"The videos are saved to the ``logs/sb3/Isaac-Cartpole-v0//videos`` " +"directory. You can open these videos using any video player." +msgstr "" +"这些视频将保存在 ``logs/sb3/Isaac-Cartpole-v0//videos`` " +"目录中。您可以使用任何视频播放器打开这些视频。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:108 +msgid "Interactive execution" +msgstr "交互式执行" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:112 +msgid "" +"While the above two methods are useful for training the agent, they don't " +"allow you to interact with the simulation to see what is happening. In this " +"case, you can ignore the ``--headless`` flag and run the training script as " +"follows:" +msgstr "" +"虽然以上两种方法对于训练代理非常有用，但它们不允许您与模拟进行交互以查看发生了什么。在这种情况下，您可以忽略 ``--headless`` " +"标志，并按照以下方式运行训练脚本：" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:120 +msgid "" +"This will open the Isaac Sim window and you can see the agent training in " +"the environment. However, this will slow down the training process since the" +" simulation is rendered on the screen. As a workaround, you can switch " +"between different render modes in the ``\"Isaac Lab\"`` window that is " +"docked on the bottom-right corner of the screen. To learn more about these " +"render modes, please check the :class:`sim.SimulationContext.RenderMode` " +"class." +msgstr "" +"这将打开Isaac " +"Sim窗口，您可以在环境中看到代理的训练过程。但是，这将减慢训练过程，因为模拟是在屏幕上呈现的。作为解决方法，您可以在屏幕右下角停靠的``\"Isaac" +" Lab\"``窗口中在不同的渲染模式之间切换。要了解更多有关这些渲染模式的信息，请查阅 " +":class:`sim.SimulationContext.RenderMode` 类。" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:127 +msgid "Viewing the logs" +msgstr "查看日志" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:129 +msgid "" +"On a separate terminal, you can monitor the training progress by executing " +"the following command:" +msgstr "在单独的终端上，您可以通过执行以下命令来监视训练进度：" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:137 +msgid "Playing the trained agent" +msgstr "播放训练代理" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:139 +msgid "" +"Once the training is complete, you can visualize the trained agent by " +"executing the following command:" +msgstr "一旦训练完成，您可以通过执行以下命令来查看经过训练的代理：" + +#: ../../source/tutorials/03_envs/run_rl_training.rst:146 +msgid "" +"The above command will load the latest checkpoint from the ``logs/sb3/Isaac-" +"Cartpole-v0`` directory. You can also specify a specific checkpoint by " +"passing the ``--checkpoint`` flag." +msgstr "" +"上述命令将从``logs/sb3/Isaac-" +"Cartpole-v0``目录中加载最新的检查点。您也可以通过传递``--checkpoint``标志来指定特定的检查点。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/04_sensors/add_sensors_on_robot.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/04_sensors/add_sensors_on_robot.po new file mode 100644 index 0000000000..041aeb9525 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/04_sensors/add_sensors_on_robot.po @@ -0,0 +1,334 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:4 +msgid "Adding sensors on a robot" +msgstr "在机器人上添加传感器" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:9 +msgid "" +"While the asset classes allow us to create and simulate the physical " +"embodiment of the robot, sensors help in obtaining information about the " +"environment. They typically update at a lower frequency than the simulation " +"and are useful for obtaining different proprioceptive and exteroceptive " +"information. For example, a camera sensor can be used to obtain the visual " +"information of the environment, and a contact sensor can be used to obtain " +"the contact information of the robot with the environment." +msgstr "" +"尽管资产类别允许我们创建和模拟机器人的物理实体，但传感器有助于获取有关环境的信息。它们的更新频率通常低于模拟，并且对于获取不同的本体感知和外部感知信息非常有用。例如，摄像头传感器可用于获取环境的视觉信息，接触传感器可用于获取机器人与环境的接触信息。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:16 +msgid "" +"In this tutorial, we will see how to add different sensors to a robot. We " +"will use the ANYmal-C robot for this tutorial. The ANYmal-C robot is a " +"quadrupedal robot with 12 degrees of freedom. It has 4 legs, each with 3 " +"degrees of freedom. The robot has the following sensors:" +msgstr "" +"在本教程中，我们将看到如何向机器人添加不同的传感器。我们将在本教程中使用ANYmal-C机器人。ANYmal-" +"C机器人是一个具有12自由度的四足机器人。它有4条腿，每条腿有3个自由度。机器人具有以下传感器：" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:21 +msgid "A camera sensor on the head of the robot which provides RGB-D images" +msgstr "机器人头部的摄像头传感器，可提供RGB-D图像" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:22 +msgid "A height scanner sensor that provides terrain height information" +msgstr "提供地形高度信息的高度扫描传感器" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:23 +msgid "" +"Contact sensors on the feet of the robot that provide contact information" +msgstr "机器人脚部的接触传感器，提供接触信息" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:25 +msgid "" +"We continue this tutorial from the previous tutorial on :ref:`tutorial-" +"interactive-scene`, where we learned about the " +":class:`scene.InteractiveScene` class." +msgstr "" +"我们将从之前关于 :ref:`tutorial-interactive-scene` 的教程中继续本教程，那里我们了解 " +":class:`scene.InteractiveScene` 类。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:30 +msgid "The Code" +msgstr "代码" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:32 +msgid "" +"The tutorial corresponds to the ``add_sensors_on_robot.py`` script in the " +"``source/standalone/tutorials/04_sensors`` directory." +msgstr "" +"教程对应于``source/standalone/tutorials/04_sensors``目录中的``add_sensors_on_robot.py`脚本。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst +msgid "Code for add_sensors_on_robot.py" +msgstr "add_sensors_on_robot.py的代码" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:45 +msgid "The Code Explained" +msgstr "解释代码" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:47 +msgid "" +"Similar to the previous tutorials, where we added assets to the scene, the " +"sensors are also added to the scene using the scene configuration. All " +"sensors inherit from the :class:`sensors.SensorBase` class and are " +"configured through their respective config classes. Each sensor instance can" +" define its own update period, which is the frequency at which the sensor is" +" updated. The update period is specified in seconds through the " +":attr:`sensors.SensorBaseCfg.update_period` attribute." +msgstr "" +"与以前的教程类似，其中我们将资产添加到场景中，传感器也是使用场景配置添加到场景中的。所有传感器都继承自:class:`sensors.SensorBase`类，并通过其各自的config类进行配置。每个传感器实例可以定义其自己的更新周期，这是传感器更新的频率。更新周期以秒为单位通过:attr:`sensors.SensorBaseCfg.update_period`属性指定。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:53 +msgid "" +"Depending on the specified path and the sensor type, the sensors are " +"attached to the prims in the scene. They may have an associated prim that is" +" created in the scene or they may be attached to an existing prim. For " +"instance, the camera sensor has a corresponding prim that is created in the " +"scene, whereas for the contact sensor, the activating the contact reporting " +"is a property on a rigid body prim." +msgstr "" +"根据指定的路径和传感器类型，传感器附加到场景中的prims。它们可能具有在场景中创建的关联prim，或者它们可能附加到现有prim。例如，摄像头传感器具有在场景中创建的相应prim，而对于接触传感器，激活接触报告是刚体prim的属性。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:58 +msgid "" +"In the following, we introduce the different sensors we use in this tutorial" +" and how they are configured. For more description about them, please check " +"the :mod:`sensors` module." +msgstr "下面，我们介绍本教程中使用的不同传感器及其配置。有关它们的更多说明，请查看:mod:`sensors`模块。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:62 +msgid "Camera sensor" +msgstr "摄像头传感器" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:64 +msgid "" +"A camera is defined using the :class:`sensors.CameraCfg`. It is based on the" +" USD Camera sensor and the different data types are captured using Omniverse" +" Replicator API. Since it has a corresponding prim in the scene, the prims " +"are created in the scene at the specified prim path." +msgstr "" +"使用:class:`sensors.CameraCfg`定义摄像头。它基于USD摄像头传感器，使用Omniverse Replicator " +"API捕获不同的数据类型。由于它在场景中有相应的prim，因此prims会在指定的prim路径处创建在场景中。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:68 +msgid "" +"The configuration of the camera sensor includes the following parameters:" +msgstr "摄像头传感器的配置包括以下参数：" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:70 +msgid "" +":attr:`~sensors.CameraCfg.spawn`: The type of USD camera to create. This can" +" be either :class:`~sim.spawners.sensors.PinholeCameraCfg` or " +":class:`~sim.spawners.sensors.FisheyeCameraCfg`." +msgstr "" +":attr:`~sensors.CameraCfg.spawn`：要创建的USD摄像头的类型。这可以是:class:`~sim.spawners.sensors.PinholeCameraCfg`或:class:`~sim.spawners.sensors.FisheyeCameraCfg`。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:72 +msgid "" +":attr:`~sensors.CameraCfg.offset`: The offset of the camera sensor from the " +"parent prim." +msgstr ":attr:`~sensors.CameraCfg.offset`：相机传感器相对于父Prim的偏移量。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:73 +msgid "" +":attr:`~sensors.CameraCfg.data_types`: The data types to capture. This can " +"be ``rgb``, ``distance_to_image_plane``, ``normals``, or other types " +"supported by the USD Camera sensor." +msgstr "" +":attr:`~sensors.CameraCfg.data_types`：要捕获的数据类型。这可以是``rgb``、``distance_to_image_plane``、``normals``或USD摄像头传感器支持的其他类型。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:76 +msgid "" +"To attach an RGB-D camera sensor to the head of the robot, we specify an " +"offset relative to the base frame of the robot. The offset is specified as a" +" translation and rotation relative to the base frame, and the " +":attr:`~sensors.CameraCfg.OffsetCfg.convention` in which the offset is " +"specified." +msgstr "" +"为了将RGB-" +"D摄像头传感器附加到机器人的头部，我们指定相对于机器人基本frame的偏移量。偏移量被指定为相对于基本frame的平移和旋转，并且指定偏移量的:attr:`~sensors.CameraCfg.OffsetCfg.convention`。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:80 +msgid "" +"In the following, we show the configuration of the camera sensor used in " +"this tutorial. We set the update period to 0.1s, which means that the camera" +" sensor is updated at 10Hz. The prim path expression is set to " +"``{ENV_REGEX_NS}/Robot/base/front_cam`` where the ``{ENV_REGEX_NS}`` is the " +"environment namespace, ``\"Robot\"`` is the name of the robot, ``\"base\"`` " +"is the name of the prim to which the camera is attached, and " +"``\"front_cam\"`` is the name of the prim associated with the camera sensor." +msgstr "" +"接下来，我们展示本教程中使用的摄像头传感器的配置。我们将更新周期设置为0.1秒，这意味着摄像头传感器以10Hz更新。prim路径表达式设置为``{ENV_REGEX_NS}/Robot/base/front_cam``，其中``{ENV_REGEX_NS}``是环境命名空间，``\"Robot\"``是机器人的名称，``\"base\"``是连接相机的prim的名称，``\"front_cam\"``是与摄像头传感器关联的prim的名称。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:92 +msgid "Height scanner" +msgstr "高度扫描器" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:94 +msgid "" +"The height-scanner is implemented as a virtual sensor using the NVIDIA Warp " +"ray-casting kernels. Through the :class:`sensors.RayCasterCfg`, we can " +"specify the pattern of rays to cast and the meshes against which to cast the" +" rays. Since they are virtual sensors, there is no corresponding prim " +"created in the scene for them. Instead they are attached to a prim in the " +"scene, which is used to specify the location of the sensor." +msgstr "" +"高度扫描器实现为使用NVIDIA " +"Warp光线投射内核的虚拟传感器。通过:class:`sensors.RayCasterCfg`，我们可以指定要投射的光线的模式以及要投射的mesh。由于它们是虚拟传感器，因此在场景中没有相应的prim。相反，它们附加到场景中的一个prim上，这用于指定传感器的位置。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:100 +msgid "" +"For this tutorial, the ray-cast based height scanner is attached to the base" +" frame of the robot. The pattern of rays is specified using the " +":attr:`~sensors.RayCasterCfg.pattern` attribute. For a uniform grid pattern," +" we specify the pattern using :class:`~sensors.patterns.GridPatternCfg`. " +"Since we only care about the height information, we do not need to consider " +"the roll and pitch of the robot. Hence, we set the " +":attr:`~sensors.RayCasterCfg.attach_yaw_only` to true." +msgstr "" +"对于本教程，基于射线的高度扫描器附加到机器人的基本frame。光线模式使用:attr:`~sensors.RayCasterCfg.pattern`属性指定。对于均匀网格模式，我们使用:class:`~sensors.patterns.GridPatternCfg`指定模式。由于我们只关心高度信息，因此我们不需要考虑机器人的横滚和俯仰。因此，我们将:attr:`~sensors.RayCasterCfg.attach_yaw_only`设置为true。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:106 +msgid "" +"For the height-scanner, you can visualize the points where the rays hit the " +"mesh. This is done by setting the :attr:`~sensors.SensorBaseCfg.debug_vis` " +"attribute to true." +msgstr "" +"对于高度扫描器，可以通过将:attr:`~sensors.SensorBaseCfg.debug_vis`属性设置为true来可视化射线击中mesh的点。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:109 +msgid "The entire configuration of the height-scanner is as follows:" +msgstr "高度扫描器的全部配置如下:" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:117 +msgid "Contact sensor" +msgstr "接触传感器" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:119 +msgid "" +"Contact sensors wrap around the PhysX contact reporting API to obtain the " +"contact information of the robot with the environment. Since it relies of " +"PhysX, the contact sensor expects the contact reporting API to be enabled on" +" the rigid bodies of the robot. This can be done by setting the " +":attr:`~sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors` to true" +" in the asset configuration." +msgstr "" +"接触传感器利用PhysX接触报告API获取机器人与环境的接触信息。由于它依赖于PhysX，接触传感器希望在机器人的刚体上启用接触报告API。这可以通过在资产配置中设置:attr:`~sim.spawners.RigidObjectSpawnerCfg.activate_contact_sensors`为true来实现。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:124 +msgid "" +"Through the :class:`sensors.ContactSensorCfg`, it is possible to specify the" +" prims for which we want to obtain the contact information. Additional flags" +" can be set to obtain more information about the contact, such as the " +"contact air time, contact forces between filtered prims, etc." +msgstr "" +"通过:class:`sensors.ContactSensorCfg`，可以指定要获取接触信息的prims。可以设置附加标志以获取有关接触的更多信息，例如联系空气时间、过滤prims之间的接触力等。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:128 +msgid "" +"In this tutorial, we attach the contact sensor to the feet of the robot. The" +" feet of the robot are named ``\"LF_FOOT\"``, ``\"RF_FOOT\"``, " +"``\"LH_FOOT\"``, and ``\"RF_FOOT\"``. We pass a Regex expression " +"``\".*_FOOT\"`` to simplify the prim path specification. This Regex " +"expression matches all prims that end with ``\"_FOOT\"``." +msgstr "" +"在本教程中，我们将接触传感器附加到机器人的脚部。机器人的脚部名称为``\"LF_FOOT\"`、``\"RF_FOOT\"、``\"LH_FOOT\"`和" +" ``\"RF_FOOT\"``。我们将正则表达式 ``\".*_FOOT\"``传递以简化prim路径的指定。此正则表达式匹配以 " +"``\"_FOOT\"``结尾的所有prims。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:133 +msgid "" +"We set the update period to 0 to update the sensor at the same frequency as " +"the simulation. Additionally, for contact sensors, we can specify the " +"history length of the contact information to store. For this tutorial, we " +"set the history length to 6, which means that the contact information for " +"the last 6 simulation steps is stored." +msgstr "" +"我们将更新周期设置为0，以便以与模拟相同的频率更新传感器。另外，对于接触传感器，我们可以指定要存储的接触信息的历史长度。对于本教程，我们将历史长度设置为6，这意味着将存储最后6个模拟步骤的接触信息。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:138 +msgid "The entire configuration of the contact sensor is as follows:" +msgstr "接触传感器的全部配置如下:" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:146 +msgid "Running the simulation loop" +msgstr "运行模拟循环" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:148 +msgid "" +"Similar to when using assets, the buffers and physics handles for the " +"sensors are initialized only when the simulation is played, i.e., it is " +"important to call ``sim.reset()`` after creating the scene." +msgstr "与使用资产时类似，只有在播放模拟时才初始化传感器的缓冲区和物理手柄，即创建场景后调用``sim.reset()``很重要。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:156 +msgid "" +"Besides that, the simulation loop is similar to the previous tutorials. The " +"sensors are updated as part of the scene update and they internally handle " +"the updating of their buffers based on their update periods." +msgstr "除此之外，模拟循环与之前的教程类似。传感器作为场景更新的一部分进行更新，并且它们根据其更新周期内部处理其缓冲区的更新。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:160 +msgid "" +"The data from the sensors can be accessed through their ``data`` attribute. " +"As an example, we show how to access the data for the different sensors " +"created in this tutorial:" +msgstr "传感器的数据可以通过它们的``data``属性访问。例如，我们展示了如何访问本教程中创建的不同传感器的数据:" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:170 +msgid "The Code Execution" +msgstr "代码执行" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:172 +msgid "" +"Now that we have gone through the code, let's run the script and see the " +"result:" +msgstr "现在我们已经介绍了代码，让我们运行脚本并查看结果:" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:179 +msgid "" +"This command should open a stage with a ground plane, lights, and two " +"quadrupedal robots. Around the robots, you should see red spheres that " +"indicate the points where the rays hit the mesh. Additionally, you can " +"switch the viewport to the camera view to see the RGB image captured by the " +"camera sensor. Please check `here " +"`_ for more information on how " +"to switch the viewport to the camera view." +msgstr "" +"此命令应打开一个包含地面平面、灯光和两个四足机器人的舞台。您应该在机器人周围看到红色的球，这些球指示了射线击中mesh的点。另外，您可以切换视口到相机视图，以查看摄像头传感器捕获的RGB图像。有关如何将视口切换到相机视图，请参阅`此处`_了解更多信息。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:185 +msgid "" +"To stop the simulation, you can either close the window, or press ``Ctrl+C``" +" in the terminal." +msgstr "要停止模拟，您可以在终端中关闭窗口，或者按 ``Ctrl+C``。" + +#: ../../source/tutorials/04_sensors/add_sensors_on_robot.rst:187 +msgid "" +"While in this tutorial, we went over creating and using different sensors, " +"there are many more sensors available in the :mod:`sensors` module. We " +"include minimal examples of using these sensors in the " +"``source/standalone/tutorials/04_sensors`` directory. For completeness, " +"these scripts can be run using the following commands:" +msgstr "" +"在本教程中，我们已经介绍了创建和使用不同传感器，:mod:`sensors`模块中还有许多传感器可用。我们在``source/standalone/tutorials/04_sensors``目录中包含了使用这些传感器的最小示例。为了使用完整，可以使用以下命令运行这些脚本：" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/04_sensors/index.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/04_sensors/index.po new file mode 100644 index 0000000000..cad2ed57eb --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/04_sensors/index.po @@ -0,0 +1,36 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/04_sensors/index.rst:2 +msgid "Integrating Sensors" +msgstr "集成传感器" + +#: ../../source/tutorials/04_sensors/index.rst:4 +msgid "" +"The following tutorial shows you how to integrate sensors into the " +"simulation environment. The tutorials introduce the " +":class:`~omni.isaac.lab.sensors.SensorBase` class and its derivatives such " +"as :class:`~omni.isaac.lab.sensors.Camera` and " +":class:`~omni.isaac.lab.sensors.RayCaster`." +msgstr "" +"以下教程向您展示如何将传感器集成到模拟环境中。本教程介绍了 :class:`~omni.isaac.lab.sensors.SensorBase` " +"类以及其派生类，如 :class:`~omni.isaac.lab.sensors.Camera` 和 " +":class:`~omni.isaac.lab.sensors.RayCaster`。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/05_controllers/index.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/05_controllers/index.po new file mode 100644 index 0000000000..ba8ba4989e --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/05_controllers/index.po @@ -0,0 +1,31 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/05_controllers/index.rst:2 +msgid "Using Motion Generators" +msgstr "使用运动生成器" + +#: ../../source/tutorials/05_controllers/index.rst:4 +msgid "" +"While the robots in the simulation environment can be controlled at the " +"joint-level, the following tutorials show you how to use motion generators " +"to control the robots at the task-level." +msgstr "在仿真环境中，机器人可以在关节级别上进行控制，下面的教程将向您展示如何使用运动生成器来控制机器人的任务级别。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/05_controllers/run_diff_ik.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/05_controllers/run_diff_ik.po new file mode 100644 index 0000000000..2d727b3511 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/05_controllers/run_diff_ik.po @@ -0,0 +1,250 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:2 +msgid "Using a task-space controller" +msgstr "使用任务空间控制器" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:6 +msgid "" +"In the previous tutorials, we have joint-space controllers to control the " +"robot. However, in many cases, it is more intuitive to control the robot " +"using a task-space controller. For example, if we want to teleoperate the " +"robot, it is easier to specify the desired end-effector pose rather than the" +" desired joint positions." +msgstr "" +"在以前的教程中，我们使用关节空间控制器来控制机器人。然而，在许多情况下，使用任务空间控制器来控制机器人会更直观。例如，如果我们想要远程操作机器人，更容易指定期望的末端执行器姿势而不是期望的关节位置。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:11 +msgid "" +"In this tutorial, we will learn how to use a task-space controller to " +"control the robot. We will use the " +":class:`controllers.DifferentialIKController` class to track a desired end-" +"effector pose command." +msgstr "" +"在本教程中，我们将学习如何使用任务空间控制器来控制机器人。我们将使用 " +":class:`controllers.DifferentialIKController` 类来跟踪期望的末端执行器姿势命令。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:17 +msgid "The Code" +msgstr "代码" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:19 +msgid "" +"The tutorial corresponds to the ``run_diff_ik.py`` script in the " +"``source/standalone/tutorials/05_controllers`` directory." +msgstr "" +"该教程对应 ``source/standalone/tutorials/05_controllers`` 目录中的 ``run_diff_ik.py``" +" 脚本。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst +msgid "Code for run_diff_ik.py" +msgstr "run_diff_ik.py 的代码" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:33 +msgid "The Code Explained" +msgstr "解释代码" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:35 +msgid "" +"While using any task-space controller, it is important to ensure that the " +"provided quantities are in the correct frames. When parallelizing " +"environment instances, they are all existing in the same unique simulation " +"world frame. However, typically, we want each environment itself to have its" +" own local frame. This is accessible through the " +":attr:`scene.InteractiveScene.env_origins` attribute." +msgstr "" +"在使用任何任务空间控制器时，确保所提供的量在正确的框架内是很重要的。当并行化环境实例时，它们都存在于同一个唯一的模拟世界框架中。但是，通常情况下，我们希望每个环境本身都有自己的本地框架。这可以通过" +" :attr:`scene.InteractiveScene.env_origins` 属性来访问。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:41 +msgid "In our APIs, we use the following notation for frames:" +msgstr "在我们的 API 中，我们使用以下符号表示各个框架：" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:43 +msgid "" +"The simulation world frame (denoted as ``w``), which is the frame of the " +"entire simulation." +msgstr "模拟世界框架 (标记为 ``w``)，是整个模拟的框架。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:44 +msgid "" +"The local environment frame (denoted as ``e``), which is the frame of the " +"local environment." +msgstr "本地环境框架 (标记为 ``e``)，是本地环境的框架。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:45 +msgid "" +"The robot's base frame (denoted as ``b``), which is the frame of the robot's" +" base link." +msgstr "机器人的基础框架 (标记为 ``b``)，是机器人基座链接的框架。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:47 +msgid "" +"Since the asset instances are not \"aware\" of the local environment frame, " +"they return their states in the simulation world frame. Thus, we need to " +"convert the obtained quantities to the local environment frame. This is done" +" by subtracting the local environment origin from the obtained quantities." +msgstr "" +"由于资产实例不了解本地环境框架，它们会返回模拟世界框架中的状态。因此，我们需要将获得的量转换为本地环境框架。这是通过从获得的量中减去本地环境原点来完成的。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:54 +msgid "Creating an IK controller" +msgstr "创建 IK 控制器" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:56 +msgid "" +"The :class:`~controllers.DifferentialIKController` class computes the " +"desired joint positions for a robot to reach a desired end-effector pose. " +"The included implementation performs the computation in a batched format and" +" uses PyTorch operations. It supports different types of inverse kinematics " +"solvers, including the damped least-squares method and the pseudo-inverse " +"method. These solvers can be specified using the " +":attr:`~controllers.DifferentialIKControllerCfg.ik_method` argument. " +"Additionally, the controller can handle commands as both relative and " +"absolute poses." +msgstr "" +":class:`~controllers.DifferentialIKController` " +"类计算机器人达到期望的末端执行器姿势时所需的关节位置。该实现以批处理格式执行计算，并使用 PyTorch " +"操作。它支持不同类型的逆运动学求解器，包括阻尼最小二乘法和伪逆法。这些求解器可以使用 " +":attr:`~controllers.DifferentialIKControllerCfg.ik_method` " +"参数指定。此外，控制器可以处理相对姿势和绝对姿势的命令。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:64 +msgid "" +"In this tutorial, we will use the damped least-squares method to compute the" +" desired joint positions. Additionally, since we want to track desired end-" +"effector poses, we will use the absolute pose command mode." +msgstr "在本教程中，我们将使用阻尼最小二乘法来计算所需的关节位置。此外，由于我们要跟踪期望的末端执行器姿势，因此我们将使用绝对姿势命令模式。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:74 +msgid "Obtaining the robot's joint and body indices" +msgstr "获取机器人的关节和身体索引" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:76 +msgid "" +"The IK controller implementation is a computation-only class. Thus, it " +"expects the user to provide the necessary information about the robot. This " +"includes the robot's joint positions, current end-effector pose, and the " +"Jacobian matrix." +msgstr "IK 控制器实现是一种纯计算类。因此，它期望用户提供关于机器人的必要信息。这包括机器人的关节位置、当前末端执行器姿势和雅可比矩阵。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:80 +msgid "" +"While the attribute :attr:`assets.ArticulationData.joint_pos` provides the " +"joint positions, we only want the joint positions of the robot's arm, and " +"not the gripper. Similarly, while the attribute " +":attr:`assets.ArticulationData.body_state_w` provides the state of all the " +"robot's bodies, we only want the state of the robot's end-effector. Thus, we" +" need to index into these arrays to obtain the desired quantities." +msgstr "" +"虽然属性 :attr:`assets.ArticulationData.joint_pos` " +"提供了关节位置，但我们只需要机器人手臂的关节位置，而不需要夹持器的。类似地，属性 " +":attr:`assets.ArticulationData.body_state_w` " +"提供了机器人所有身体的状态，但我们只需要机器人末端执行器的状态。因此，我们需要索引这些数组以获得所需的量。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:86 +msgid "" +"For this, the articulation class provides the methods " +":meth:`~assets.Articulation.find_joints` and " +":meth:`~assets.Articulation.find_bodies`. These methods take in the names of" +" the joints and bodies and return their corresponding indices." +msgstr "" +"为此，关节类提供了 :meth:`~assets.Articulation.find_joints` 和 " +":meth:`~assets.Articulation.find_bodies` 方法。这些方法需要关节和身体的名称，并返回它们对应的索引。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:90 +msgid "" +"While you may directly use these methods to obtain the indices, we recommend" +" using the :attr:`~managers.SceneEntityCfg` class to resolve the indices. " +"This class is used in various places in the APIs to extract certain " +"information from a scene entity. Internally, it calls the above methods to " +"obtain the indices. However, it also performs some additional checks to " +"ensure that the provided names are valid. Thus, it is a safer option to use " +"this class." +msgstr "" +"虽然您可以直接使用这些方法来获取索引，但我们建议使用 :attr:`~managers.SceneEntityCfg` 类来解析索引。此类在 API " +"中的各个位置都用于从场景实体中提取某些信息。在内部，它调用上述方法来获取索引。但是，它还执行了一些额外的检查，以确保提供的名称是有效的。因此，使用此类是一个更安全的选择。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:104 +msgid "Computing robot command" +msgstr "计算机器人命令" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:106 +msgid "" +"The IK controller separates the operation of setting the desired command and" +" computing the desired joint positions. This is done to allow for the user " +"to run the IK controller at a different frequency than the robot's control " +"frequency." +msgstr "IK 控制器将设置所需命令和计算所需的关节位置的操作分开。这是为了允许用户以不同的频率运行 IK 控制器和机器人的控制频率。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:110 +msgid "" +"The :meth:`~controllers.DifferentialIKController.set_command` method takes " +"in the desired end-effector pose as a single batched array. The pose is " +"specified in the robot's base frame." +msgstr "" +":meth:`~controllers.DifferentialIKController.set_command` " +"方法以单个批处理数组的形式获取期望的末端执行器姿势。姿势是在机器人基础框架中指定的。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:119 +msgid "" +"We can then compute the desired joint positions using the " +":meth:`~controllers.DifferentialIKController.compute` method. The method " +"takes in the current end-effector pose (in base frame), Jacobian, and " +"current joint positions. We read the Jacobian matrix from the robot's data, " +"which uses its value computed from the physics engine." +msgstr "" +"然后我们可以使用 :meth:`~controllers.DifferentialIKController.compute` " +"方法来计算所需的关节位置。该方法接受当前末端执行器姿势（在基础框架中）、雅可比矩阵和当前关节位置。我们从机器人的数据中读取雅可比矩阵，该雅可比矩阵的值是从物理引擎中计算出来的。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:131 +msgid "" +"The computed joint position targets can then be applied on the robot, as " +"done in the previous tutorials." +msgstr "然后计算的关节位置目标可以应用到机器人上，就像在以前的教程中一样。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:141 +msgid "The Code Execution" +msgstr "代码执行" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:143 +msgid "" +"Now that we have gone through the code, let's run the script and see the " +"result:" +msgstr "现在我们已经过了代码，让我们运行脚本并查看结果：" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:149 +msgid "" +"The script will start a simulation with 128 robots. The robots will be " +"controlled using the IK controller. The current and desired end-effector " +"poses should be displayed using frame markers. When the robot reaches the " +"desired pose, the command should cycle through to the next pose specified in" +" the script." +msgstr "" +"脚本将启动一个包含 128 个机器人的模拟。这些机器人将使用 IK " +"控制器进行控制。当前的和期望的末端执行器姿势应该使用框架标记来显示。当机器人达到期望的姿势时，命令应该循环到在脚本中指定的下一个姿势。" + +#: ../../source/tutorials/05_controllers/run_diff_ik.rst:153 +msgid "" +"To stop the simulation, you can either close the window, or press the " +"``STOP`` button in the UI, or press ``Ctrl+C`` in the terminal." +msgstr "要停止模拟，您可以关闭窗口，或者按 UI 中的 ``STOP`` 按钮，或者在终端中按 ``Ctrl+C``。" diff --git a/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/index.po b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/index.po new file mode 100644 index 0000000000..b52fb4ec63 --- /dev/null +++ b/docs/locale/zh_CN/LC_MESSAGES/source/tutorials/index.po @@ -0,0 +1,48 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2022-2024, The Isaac Lab Project Developers. +# This file is distributed under the same license as the Isaac Lab package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: Isaac Lab 1.0.0\n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-07-04 11:04+0000\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language-Team: zh_CN \n" +"Language: zh_CN\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Plural-Forms: nplurals=1; plural=0;\n" +"Generated-By: Babel 2.15.0\n" + +#: ../../source/tutorials/index.rst:2 +msgid "Tutorials" +msgstr "教程" + +#: ../../source/tutorials/index.rst:4 +msgid "" +"Welcome to the Isaac Lab tutorials! These tutorials provide a step-by-step " +"guide to help you understand and use various features of the framework. All " +"the tutorials are written as Python scripts. You can find the source code " +"for each tutorial in the ``source/standalone/tutorials`` directory of the " +"Isaac Lab repository." +msgstr "" +"欢迎来到Isaac " +"Lab教程！这些教程提供了一步一步的指南，帮助您了解和使用框架的各种功能。所有教程都是以Python脚本的形式编写的。您可以在Isaac " +"Lab存储库的``source/standalone/tutorials``目录中找到每个教程的源代码。" + +#: ../../source/tutorials/index.rst:11 +msgid "" +"We would love to extend the tutorials to cover more topics and use cases, so" +" please let us know if you have any suggestions." +msgstr "我们希望能够扩展教程的内容，涵盖更多主题和使用案例，所以如果您有任何建议，请告诉我们。" + +#: ../../source/tutorials/index.rst:14 +msgid "" +"We recommend that you go through the tutorials in the order they are listed " +"here." +msgstr "我们建议您按照这里列出的顺序完成教程。" diff --git a/docs/po_translator.py b/docs/po_translator.py new file mode 100644 index 0000000000..2daf0a51b4 --- /dev/null +++ b/docs/po_translator.py @@ -0,0 +1,289 @@ +""" +GPT Translator +""" + + +import argparse +import logging +import os +import time + +import polib +from dotenv import load_dotenv +from openai import OpenAI + +# from python_gpt_po.version import __version__ + +# Initialize environment variables and logging +load_dotenv() +logging.basicConfig(level=logging.INFO) + + +class TranslationConfig: + """ Class to hold configuration parameters for the translation service. """ + def __init__(self, client, model, bulk_mode=False, fuzzy=False, folder_language=False, bulksize=50): # pylint: disable=R0913 + self.client = client + self.model = model + self.bulk_mode = bulk_mode + self.fuzzy = fuzzy + self.folder_language = folder_language + self.bulksize = bulksize + + +class TranslationService: + """ Class to encapsulate translation functionalities. """ + + def __init__(self, config): + self.config = config + self.batch_size = config.bulksize + self.total_batches = 0 + + def validate_openai_connection(self): + """Validates the OpenAI connection by making a test API call.""" + try: + test_message = {"role": "system", "content": "Test message to validate connection."} + self.config.client.chat.completions.create(model=self.config.model, messages=[test_message]) + logging.info("OpenAI connection validated successfully.") + return True + except Exception as e: # pylint: disable=W0718 + logging.error("Failed to validate OpenAI connection: %s", e) + return False + + def translate_bulk(self, texts, target_language, po_file_path, current_batch): + translated_texts = [] + total_texts = len(texts) + for i in range(0, total_texts, self.batch_size): + batch_texts = texts[i:i + self.batch_size] + batch_info = f"File: {po_file_path}, Batch {i // self.batch_size + 1}/{self.total_batches}" + batch_info += f" (texts {i + 1}-{min(i + self.batch_size, total_texts)})" + translation_request = (f"You are a sphinx translator, when meet words in formula or the word is an exclusive noun in English, such as \"NVIDIA\", \"Isaac Sim\", \"GitHub\", then do not translate. " + "Please be careful not to break reST notation, such as \":ref:`search`\", just keep it. " + "Please follow sphinx syntax. " + "Don't try to answer or explain the words or sentences I give you. " + "Now please translate the following text from English into {target_language}. " + "Add a space between Chinese word/Chinese punctuation and \"`\", for example, \"中文字符 `abc123`_ 中文字符\" instead of \"中文字符`abc123`_中文字符\", \"我好（你也好） `abc123`_ （你也好）我好\" instead of \"我好（你也好）`abc123`_（你也好）我好\". " + "中文和`之间要增加一个空格，并按照收到的格式进行返回" + "Use the format 'Index@Text' for each segment:\n\n") + for index, text in enumerate(batch_texts, start=i): + translation_request += f"{index}@{text}\n" + + retries = 3 + + while retries: + try: + if self.config.bulk_mode: + logging.info("Translating %s", batch_info) + self.perform_translation(translation_request, translated_texts, batch=True) + break + except Exception as e: + error_message = f"Error in translating {batch_info}: {e}. Retrying... {retries - 1} attempts left." + logging.error(error_message) + if retries <= 1: + logging.error("Maximum retries reached for %s. Skipping this batch.", batch_info) + translated_texts.extend([(index, '') for index in range(i, i + len(batch_texts))]) + retries -= 1 + time.sleep(1) + + return translated_texts + + + def perform_translation(self, translation_request, translated_texts, batch=False): + message = {"role": "user", "content": translation_request} + completion = self.config.client.chat.completions.create(model=self.config.model, messages=[message]) + + raw_response = completion.choices[0].message.content.strip() + logging.info(raw_response) + + if batch: + for line in raw_response.split("\n"): + try: + index_str, translation = line.split("@", 1) + index = int(index_str.strip()) + translation = translation.strip() + if translation and not translation.startswith("The provided text does not seem to be"): + translated_texts.append((index, translation)) + else: + logging.error("No valid translation found for index %s", index) + translated_texts.append((index, '')) + except ValueError: + logging.error("Error parsing line: '%s'", line) + translated_texts.append((index, '')) + else: + if not raw_response.startswith("The provided text does not seem to be"): + translated_texts.append((0, raw_response)) + else: + logging.error("No valid translation found for text") + translated_texts.append((0, '')) + + def scan_and_process_po_files(self, input_folder, languages): + """Scans and processes .po files in the given input folder.""" + po_files = [] + + # First, collect all .po files, excluding the 'api' folder and 'changelog.po' file + for root, dirs, files in os.walk(input_folder): + # Exclude 'api' folder + dirs[:] = [d for d in dirs if d != 'api'] + # Collect .po files excluding 'changelog.po' + po_files.extend([os.path.join(root, file) for file in files if file.endswith(".po") and file != 'changelog.po']) + + total_files = len(po_files) + + for idx, po_file_path in enumerate(po_files, start=1): + logging.info("Discovered .po file: %s", po_file_path) # Log each discovered file + self.process_po_file(po_file_path, languages) + + # Log progress as completed/total + logging.info("Progress: %d/%d", idx, total_files) + + def process_po_file(self, po_file_path, languages): + """Processes an individual .po file by removing fuzzy entries if specified.""" + if self.config.fuzzy: + self.disable_fuzzy_translations(po_file_path) + try: + po_file = polib.pofile(po_file_path) + file_lang = po_file.metadata.get('Language', '') + + # If language is not in the list, try inferring from any part of the directory + if not file_lang or file_lang not in languages: + if self.config.folder_language: + folder_parts = po_file_path.split(os.sep) + inferred_lang = next((part for part in folder_parts if part in languages), None) + logging.info("Attempting to infer language for .po file: %s", po_file_path) + if inferred_lang: + file_lang = inferred_lang + logging.info("Inferred language for .po file: %s as %s", po_file_path, file_lang) + else: + logging.warning("Skipping .po file due to inferred language mismatch: %s", po_file_path) + return + else: + logging.warning("Skipping .po file due to language mismatch: %s", po_file_path) + return + + if file_lang in languages: + # Reload the po file after modifications + po_file = polib.pofile(po_file_path) + texts_to_translate = [ + entry.msgid + for entry in po_file + if not entry.msgstr and entry.msgid and 'fuzzy' not in entry.flags + ] + self.process_translations(texts_to_translate, file_lang, po_file, po_file_path) + + po_file.save(po_file_path) + logging.info("Finished processing .po file: %s", po_file_path) + except Exception as e: # pylint: disable=W0718 + logging.error("Error processing file %s: %s", po_file_path, e) + + def disable_fuzzy_translations(self, po_file_path): + """ + Disables fuzzy translations in a .po file by removing the 'fuzzy' flags from entries. + """ + try: + po_file = polib.pofile(po_file_path) + fuzzy_entries = [entry for entry in po_file if 'fuzzy' in entry.flags] + + for entry in fuzzy_entries: + entry.flags.remove('fuzzy') + + po_file.save(po_file_path) + logging.info("Fuzzy translations disabled in file: %s", po_file_path) + except Exception as e: # pylint: disable=W0718 + logging.error("Error while disabling fuzzy translations in file %s: %s", po_file_path, e) + + def process_translations(self, texts, target_language, po_file, po_file_path): + """Processes translations either in bulk or one by one.""" + if self.config.bulk_mode: + self.translate_in_bulk(texts, target_language, po_file, po_file_path) + else: + self.translate_one_by_one(texts, target_language, po_file, po_file_path) + + def translate_in_bulk(self, texts, target_language, po_file, po_file_path): + """Translates texts in bulk and applies them to the .po file.""" + self.total_batches = (len(texts) - 1) // 50 + 1 + translated_texts = self.translate_bulk(texts, target_language, po_file_path, 0) + self.apply_translations_to_po_file(translated_texts, texts, po_file) + + def translate_one_by_one(self, texts, target_language, po_file, po_file_path): + """Translates texts one by one and updates the .po file.""" + for index, text in enumerate(texts): + logging.info("Translating text %s/%s in file %s", (index + 1), len(texts), po_file_path) + logging.info(text) + translation_request = f"You are a sphinx translator, when meet words in formula or the word is an exclusive noun in English, such as \"NVIDIA\", \"Isaac Sim\", \"GitHub\", then do not translate. Add a space between the Chinese word and \"`\", For example, \"中文字符 `abc123`_ 中文字符\" instead of \"中文字符`abc123`_中文字符\". Please be careful not to break reST notation, such as \":ref:`search`\", just keep it. Please follow sphinx syntax. Don't try to answer or explain the words or sentences I give you. Now please translate the following text from English into {target_language}: {text}" + translated_texts = [] + self.perform_translation(translation_request, translated_texts, batch=False) + if translated_texts: + translated_text = translated_texts[0][1] + self.update_po_entry(po_file, text, translated_text) + else: + logging.error("No translation returned for text: %s", text) + + def update_po_entry(self, po_file, original_text, translated_text): + """Updates a .po file entry with the translated text.""" + entry = po_file.find(original_text) + if entry: + entry.msgstr = translated_text + + def apply_translations_to_po_file(self, translated_texts, original_texts, po_file): + """ + Applies the translated texts to the .po file. + """ + text_index_map = dict(enumerate(original_texts)) + translation_map = {} + + for index, translation in translated_texts: + original_text = text_index_map.get(index) + if original_text: + self.update_po_entry(po_file, original_text, translation) + else: + logging.warning("No original text found for index %s", index) + + for entry in po_file: + if entry.msgid in translation_map: + entry.msgstr = translation_map[entry.msgid] + logging.info("Applied translation for '%s'", entry.msgid) + elif not entry.msgstr: + logging.warning("No translation applied for '%s'", entry.msgid) + + po_file.save() + logging.info("Po file saved.") + + +def main(): + """Main function to parse arguments and initiate processing.""" + parser = argparse.ArgumentParser(description="Scan and process .po files") + # parser.add_argument("--version", action="version", version=f'%(prog)s {__version__}') + parser.add_argument("--folder", required=True, help="Input folder containing .po files") + parser.add_argument("--lang", required=True, help="Comma-separated language codes to filter .po files") + parser.add_argument("--fuzzy", action="store_true", help="Remove fuzzy entries") + parser.add_argument("--bulk", action="store_true", help="Use bulk translation mode") + parser.add_argument("--bulksize", type=int, default=50, help="Batch size for bulk translation") + parser.add_argument("--model", default="gpt-3.5-turbo-1106", help="OpenAI model to use for translations") + parser.add_argument("--api_key", help="OpenAI API key") + parser.add_argument("--folder-language", action="store_true", help="Set language from directory structure") + + args = parser.parse_args() + + # Initialize OpenAI client + # api_key = args.api_key if args.api_key else os.getenv("OPENAI_API_KEY") + api_key = "sk-g8TUvgtpcIgwXtaC5f463f99D7Dc4425B439Ad9140A5C4C9" + base_url = 'https://api.gpts.vin/v1' + client = OpenAI(api_key=api_key, base_url=base_url) + + # Create a configuration object + config = TranslationConfig(client, args.model, args.bulk, args.fuzzy, args.folder_language, args.bulksize) + + # Initialize the translation service with the configuration object + translation_service = TranslationService(config) + + # Validate the OpenAI connection + if not translation_service.validate_openai_connection(): + logging.error("OpenAI connection failed. Please check your API key and network connection.") + return + + # Extract languages + languages = [lang.strip() for lang in args.lang.split(',')] + translation_service.scan_and_process_po_files(args.folder, languages) + + +if __name__ == "__main__": + main() diff --git a/docs/source/setup/translation.rst b/docs/source/setup/translation.rst new file mode 100644 index 0000000000..ac577f7987 --- /dev/null +++ b/docs/source/setup/translation.rst @@ -0,0 +1,8 @@ +About Translation +========================= + +Translator: `fan-ziqi `__ + +Translation will be updated on `fan-ziqi/IsaacLab `__ + +If you want to participate in translation and proofreading, please pull the above repository and switch to the main branch. Please always make sure your local branch is synchronized with the upstream. You can modify the translation in the `*.po` file in `docs/locale/zh_CN/LC_MESSAGES`` and open a pull-request. Thank you for your selfless contribution! \ No newline at end of file