embodichain.lab.sim.cfg

Classes

ArticulationCfg	Configuration for an articulation asset in the simulation.
GPUMemoryCfg	A gpu memory configuration dataclass that neatly holds all parameters that configure physics GPU memory for simulation
JointDrivePropertiesCfg	Properties to define the drive mechanism of a joint.
LightCfg	Configuration for a light asset in the simulation.
ObjectBaseCfg	Base configuration for an asset in the simulation.
PhysicsCfg	PhysicsCfg(gravity: 'np.ndarray' = <factory>, bounce_threshold: 'float' = <factory>, enable_pcm: 'bool' = <factory>, enable_tgs: 'bool' = <factory>, enable_ccd: 'bool' = <factory>, enable_enhanced_determinism: 'bool' = <factory>, enable_friction_every_iteration: 'bool' = <factory>, length_tolerance: 'float' = <factory>, speed_tolerance: 'float' = <factory>)
RigidBodyAttributesCfg	Physical attributes for rigid bodies.
RigidObjectCfg	Configuration for a rigid body asset in the simulation.
RobotCfg	RobotCfg(uid: 'Union[str, None]' = <factory>, init_pos: 'tuple[float, float, float]' = <factory>, init_rot: 'tuple[float, float, float]' = <factory>, init_local_pose: 'Optional[np.ndarray]' = <factory>, fpath: 'str' = <factory>, drive_pros: 'JointDrivePropertiesCfg' = <factory>, body_scale: 'Union[tuple, list]' = <factory>, attrs: 'RigidBodyAttributesCfg' = <factory>, fix_base: 'bool' = <factory>, disable_self_collision: 'bool' = <factory>, init_qpos: 'Union[torch.Tensor, np.ndarray, Sequence[float]]' = <factory>, sleep_threshold: 'float' = <factory>, min_position_iters: 'int' = <factory>, min_velocity_iters: 'int' = <factory>, build_pk_chain: 'bool' = <factory>, control_parts: 'Union[Dict[str, List[str]], None]' = <factory>, urdf_cfg: 'Optional[URDFCfg]' = <factory>, solver_cfg: 'Union[SolverCfg, Dict[str, SolverCfg], None]' = <factory>)
URDFCfg	Standalone configuration class for URDF assembly.