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isaaclab-bot[bot]StafaHkellyguo11greptile-apps[bot]
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[Backport] PR #7493 to release/3.0.0 (#7508)
Backports #7493 to `release/3.0.0`. The original cherry-pick conflicted. An NVIDIA inference model proposed this resolution, and deterministic validation confirmed that it changes no paths outside the original PR. Because conflict resolution cannot be certified as an exact patch replay, this PR is intentionally a draft and requires release-maintainer review. | Field | Commit | |---|---| | Original merged change | `23ef3873f56fd78dab79158f26860502ae23aade` | | Release base used | `1344cfbf4f739d64474a929570e1a9465d0a9aad` | | Proposed backport | `f2b422047519f5c8f65e58ca9bb7c3b79868f208` | --------- Signed-off-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: Mustafa H <34825877+StafaH@users.noreply.github.com> Co-authored-by: Kelly Guo <kellyg@nvidia.com> Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
1 parent e9b6ab5 commit 30a0617

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‎docs/source/_static/css/environment-browser.js‎

Lines changed: 29 additions & 29 deletions
Original file line numberDiff line numberDiff line change
@@ -25,14 +25,14 @@
2525
["Isaac-Lift-Cable-Franka-Camera", "rsl_rl", "newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint", {}, "tasks/manipulation/franka_lift_cable.jpg"],
2626
["Isaac-Lift-Cloth-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint", {}, "tasks/manipulation/franka_lift_cloth.jpg"],
2727
["Isaac-Lift-Cloth-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint", {}, "tasks/manipulation/franka_lift_cloth.jpg"],
28-
["Isaac-Lift-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp", "", "cube,shapes"],
28+
["Isaac-Lift-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes"],
2929
["Isaac-Lift-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes", {}, "tasks/manipulation/kuka_allegro_lift.jpg"],
3030
["Isaac-Lift-KukaAllegro-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera", {}, "tasks/manipulation/kuka_allegro_lift.jpg"],
3131
["Isaac-Lift-Soft-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "", "ik,joint", {}, "newton/franka-mjwarp-vbd-coupling.png"],
3232
["Isaac-Lift-Soft-Franka-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp_vbd_proxy", "isaacsim_rtx,newton_renderer,ovrtx", "ik,joint", {}, "newton/franka-mjwarp-vbd-coupling.png"],
3333
["Isaac-Open-Drawer-Franka-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/franka_open_drawer.jpg"],
3434
["Isaac-Open-Drawer-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/franka_open_drawer.jpg"],
35-
["Isaac-Pendulum-MARL-Direct", "rl_games,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", ""],
35+
["Isaac-Pendulum-MARL-Direct", "rl_games,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/classic/cart_double_pendulum.jpg"],
3636
["Isaac-Reach-Franka", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik,diffik_abs,joint_pos,newton_ik", {}, "tasks/manipulation/franka_reach.jpg", true],
3737
["Isaac-Reach-Franka-OSC", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "diffik_abs", {}, "tasks/manipulation/franka_reach.jpg"],
3838
["Isaac-Reach-UR10", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/ur10_reach.jpg", true],
@@ -42,7 +42,7 @@
4242
["Isaac-Reorient-Cube-Shadow", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "asymmetric,randomized"],
4343
["Isaac-Reorient-Cube-Shadow-Camera-Direct", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,full,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl", {}, "tasks/manipulation/shadow_cube.jpg"],
4444
["Isaac-Reorient-Cube-Shadow-Camera", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo,depth,full,randomized,rgb,semantic_segmentation,simple_shading_constant_diffuse,simple_shading_diffuse_mdl,simple_shading_full_mdl"],
45-
["Isaac-Reorient-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp", "", "cube,shapes"],
45+
["Isaac-Reorient-Franka", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes"],
4646
["Isaac-Reorient-KukaAllegro", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "cube,shapes", {}, "tasks/manipulation/kuka_allegro_reorient.jpg"],
4747
["Isaac-Reorient-KukaAllegro-Camera", "rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "isaacsim_rtx,newton_renderer,ovrtx", "albedo128,albedo256,albedo64,cube,depth128,depth256,depth64,duo_camera,raycaster_depth128,raycaster_depth256,raycaster_depth64,rgb128,rgb256,rgb64,semantic_segmentation128,semantic_segmentation256,semantic_segmentation64,shapes,simple_shading_constant_diffuse128,simple_shading_constant_diffuse256,simple_shading_constant_diffuse64,simple_shading_diffuse_mdl128,simple_shading_diffuse_mdl256,simple_shading_diffuse_mdl64,simple_shading_full_mdl128,simple_shading_full_mdl256,simple_shading_full_mdl64,single_camera", {}, "tasks/manipulation/kuka_allegro_reorient.jpg"],
4848
["Isaac-Shadow-Handover-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/shadow_hand_over.jpg"],
@@ -52,11 +52,11 @@
5252
["Isaac-Velocity-Flat-G1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/g1_flat.jpg", true],
5353
["Isaac-Velocity-Flat-H1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/h1_flat.jpg", true],
5454
["Isaac-Velocity-Flat-UnitreeGo2", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/go2_flat.jpg", true],
55-
["Isaac-Velocity-Rough-AnymalD", "rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_d_rough.jpg"],
56-
["Isaac-Velocity-Rough-Cassie", "rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_d_rough.jpg"],
57-
["Isaac-Velocity-Rough-G1", "rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/g1_rough.jpg"],
58-
["Isaac-Velocity-Rough-H1", "rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/h1_rough.jpg"],
59-
["Isaac-Velocity-Rough-UnitreeGo2", "rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/go2_rough.jpg"],
55+
["Isaac-Velocity-Rough-AnymalD", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_d_rough.jpg"],
56+
["Isaac-Velocity-Rough-Cassie", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_d_rough.jpg"],
57+
["Isaac-Velocity-Rough-G1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/g1_rough.jpg"],
58+
["Isaac-Velocity-Rough-H1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/h1_rough.jpg"],
59+
["Isaac-Velocity-Rough-UnitreeGo2", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/go2_rough.jpg"],
6060
["IsaacContrib-Assemble-Trocar-G129-Dex3", "rlinf", "", "", "", {}, "tasks/manipulation/g1_assemble_trocar.jpg"],
6161
["IsaacContrib-AutoMate-Assembly-Direct", "rl_games", "", "", "", {}, "tasks/automate/00004.jpg"],
6262
["IsaacContrib-AutoMate-Disassembly-Direct", "rl_games", "", "", "", {}, "tasks/automate/01053_disassembly.jpg"],
@@ -102,36 +102,36 @@
102102
["IsaacContrib-PickPlace-GR1T2-Abs", "", "", "isaacsim_rtx,newton_renderer,ovrtx", "", {}, "tasks/manipulation/gr-1_pick_place.jpg"],
103103
["IsaacContrib-PickPlace-GR1T2-WaistEnabled-Abs", "", "", "", "", {}, "tasks/manipulation/gr-1_pick_place_waist.jpg"],
104104
["IsaacContrib-PickPlace-Locomanipulation-G1-Abs", "", "", "isaacsim_rtx,newton_renderer,ovrtx", "", {}, "tasks/manipulation/g1_pick_place_locomanipulation.jpg"],
105-
["IsaacContrib-Place-Mug-Agibot-Left-Arm-RmpFlow", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/agibot_place_mug.jpg"],
106-
["IsaacContrib-Place-Toy2Box-Agibot-Right-Arm-RmpFlow", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/agibot_place_toy.jpg"],
105+
["IsaacContrib-Place-Mug-Agibot-Left-Arm-RmpFlow", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/agibot_place_mug.jpg"],
106+
["IsaacContrib-Place-Toy2Box-Agibot-Right-Arm-RmpFlow", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/agibot_place_toy.jpg"],
107107
["IsaacContrib-Reach-OpenArm", "rl_games,rsl_rl,skrl", "", "", "", {}, "tasks/manipulation/openarm_uni_reach.jpg"],
108108
["IsaacContrib-Reach-OpenArmBi", "rl_games,rsl_rl", "", "", "", {}, "tasks/manipulation/openarm_bi_reach.jpg"],
109109
["IsaacContrib-Reorient-Cube-Shadow-OpenAI-FF-Direct", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/shadow_cube.jpg"],
110110
["IsaacContrib-Reorient-Cube-Shadow-OpenAI-LSTM-Direct", "rl_games,rsl_rl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/manipulation/shadow_cube.jpg"],
111-
["IsaacContrib-Stack-Cube-Bin-Franka-IK-Rel-Mimic", "", "isaacsim_physx,newton_mjwarp", "", ""],
112-
["IsaacContrib-Stack-Cube-BlueGreen-Franka-IK-Rel", "", "isaacsim_physx,newton_mjwarp", "", ""],
113-
["IsaacContrib-Stack-Cube-BlueGreenRed-Franka-IK-Rel", "", "isaacsim_physx,newton_mjwarp", "", ""],
114-
["IsaacContrib-Stack-Cube-Franka", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
115-
["IsaacContrib-Stack-Cube-Franka-IK-Abs", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
116-
["IsaacContrib-Stack-Cube-Franka-IK-Rel", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
111+
["IsaacContrib-Stack-Cube-Bin-Franka-IK-Rel-Mimic", "", "isaacsim_physx", "", ""],
112+
["IsaacContrib-Stack-Cube-BlueGreen-Franka-IK-Rel", "", "isaacsim_physx", "", ""],
113+
["IsaacContrib-Stack-Cube-BlueGreenRed-Franka-IK-Rel", "", "isaacsim_physx", "", ""],
114+
["IsaacContrib-Stack-Cube-Franka", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
115+
["IsaacContrib-Stack-Cube-Franka-IK-Abs", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
116+
["IsaacContrib-Stack-Cube-Franka-IK-Rel", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
117117
["IsaacContrib-Stack-Cube-Franka-IK-Rel-Blueprint", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
118-
["IsaacContrib-Stack-Cube-Franka-IK-Rel-Skillgen", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
118+
["IsaacContrib-Stack-Cube-Franka-IK-Rel-Skillgen", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
119119
["IsaacContrib-Stack-Cube-Franka-IK-Rel-Visuomotor", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
120120
["IsaacContrib-Stack-Cube-Franka-IK-Rel-Visuomotor-Cosmos", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/franka_stack.jpg"],
121-
["IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/galbot_stack_cube.jpg"],
121+
["IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-RmpFlow", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/galbot_stack_cube.jpg"],
122122
["IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor", "", "isaacsim_physx,newton_mjwarp", "isaacsim_rtx,newton_renderer,ovrtx", ""],
123123
["IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-Joint-Position", "", "isaacsim_physx,newton_mjwarp", "isaacsim_rtx,newton_renderer,ovrtx", ""],
124124
["IsaacContrib-Stack-Cube-Galbot-Left-Arm-Gripper-Visuomotor-RmpFlow", "", "isaacsim_physx,newton_mjwarp", "isaacsim_rtx,newton_renderer,ovrtx", ""],
125-
["IsaacContrib-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow", "", "isaacsim_physx,newton_mjwarp", "", ""],
125+
["IsaacContrib-Stack-Cube-Galbot-Right-Arm-Suction-RmpFlow", "", "isaacsim_physx", "", ""],
126126
["IsaacContrib-Stack-Cube-Instance-Randomize-Franka", "", "", "", ""],
127127
["IsaacContrib-Stack-Cube-Instance-Randomize-Franka-IK-Rel", "", "", "", ""],
128-
["IsaacContrib-Stack-Cube-RedGreen-Franka-IK-Rel", "", "isaacsim_physx,newton_mjwarp", "", ""],
129-
["IsaacContrib-Stack-Cube-RedGreenBlue-Franka-IK-Rel", "", "isaacsim_physx,newton_mjwarp", "", ""],
130-
["IsaacContrib-Stack-Cube-SO101-IK-Abs-v0", "", "isaacsim_physx,newton_mjwarp", "", ""],
131-
["IsaacContrib-Stack-Cube-SO101-Joint-Teleop-v0", "", "isaacsim_physx,newton_mjwarp", "", ""],
132-
["IsaacContrib-Stack-Cube-SO101-v0", "", "isaacsim_physx,newton_mjwarp", "", ""],
128+
["IsaacContrib-Stack-Cube-RedGreen-Franka-IK-Rel", "", "isaacsim_physx", "", ""],
129+
["IsaacContrib-Stack-Cube-RedGreenBlue-Franka-IK-Rel", "", "isaacsim_physx", "", ""],
130+
["IsaacContrib-Stack-Cube-SO101-IK-Abs-v0", "", "isaacsim_physx", "", ""],
131+
["IsaacContrib-Stack-Cube-SO101-Joint-Teleop-v0", "", "isaacsim_physx", "", ""],
132+
["IsaacContrib-Stack-Cube-SO101-v0", "", "isaacsim_physx", "", ""],
133133
["IsaacContrib-Stack-Cube-UR10-Long-Suction-IK-Rel", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/ur10_stack_surface_gripper.jpg"],
134-
["IsaacContrib-Stack-Cube-UR10-Short-Suction-IK-Rel", "", "isaacsim_physx,newton_mjwarp", "", "", {}, "tasks/manipulation/ur10_stack_surface_gripper.jpg"],
134+
["IsaacContrib-Stack-Cube-UR10-Short-Suction-IK-Rel", "", "isaacsim_physx", "", "", {}, "tasks/manipulation/ur10_stack_surface_gripper.jpg"],
135135
["IsaacContrib-TrackPositionNoObstacles-ARL-Robot-1", "rl_games,rsl_rl,skrl", "", "", "", {}, "tasks/drone_arl/arl_robot_1_track_position_state_based.jpg"],
136136
["IsaacContrib-Tracking-LocoManip-Digit", "rsl_rl", "isaacsim_physx", "", "", {}, "tasks/locomotion/agility_digit_loco_manip.jpg"],
137137
["IsaacContrib-UR10-Particle-Push", "rsl_rl", "", "", "", {}, "tasks/manipulation/ur10_particle_push.jpg"],
@@ -142,12 +142,12 @@
142142
["IsaacContrib-Velocity-Flat-Spot", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp", "", "", {}, "tasks/locomotion/spot_flat.jpg"],
143143
["IsaacContrib-Velocity-Flat-UnitreeA1", "rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/a1_flat.jpg", true],
144144
["IsaacContrib-Velocity-Flat-UnitreeGo1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/go1_flat.jpg", true],
145-
["IsaacContrib-Velocity-Rough-AnymalB", "rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_b_rough.jpg"],
145+
["IsaacContrib-Velocity-Rough-AnymalB", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_b_rough.jpg"],
146146
["IsaacContrib-Velocity-Rough-AnymalC-Direct", "rl_games,rsl_rl,skrl", "", "", "", {}, "tasks/locomotion/anymal_c_rough.jpg"],
147-
["IsaacContrib-Velocity-Rough-AnymalC", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_c_rough.jpg"],
147+
["IsaacContrib-Velocity-Rough-AnymalC", "rl_games,rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/anymal_c_rough.jpg"],
148148
["IsaacContrib-Velocity-Rough-Digit", "rsl_rl", "isaacsim_physx", "", "", {}, "tasks/locomotion/agility_digit_rough.jpg"],
149-
["IsaacContrib-Velocity-Rough-UnitreeA1", "rsl_rl,skrl,sb3", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/a1_rough.jpg"],
150-
["IsaacContrib-Velocity-Rough-UnitreeGo1", "rsl_rl,skrl", "isaacsim_physx,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/go1_rough.jpg"],
149+
["IsaacContrib-Velocity-Rough-UnitreeA1", "rsl_rl,skrl,sb3", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/a1_rough.jpg"],
150+
["IsaacContrib-Velocity-Rough-UnitreeGo1", "rsl_rl,skrl", "isaacsim_physx,newton_kamino,newton_mjwarp,ovphysx", "", "", {}, "tasks/locomotion/go1_rough.jpg"],
151151
];
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// END-AUTO-GENERATED: environment-browser-task-rows
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‎docs/source/api/lab/isaaclab.sim.rst‎

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@@ -74,52 +74,66 @@ The following classes are part of the public :mod:`isaaclab.sim` API.
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UsdPhysicsRigidBodyCfg
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.. autoclass:: ArticulationRootFragment
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.. autoclass:: CollisionFragment
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.. autoclass:: FixedTendonFragment
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.. autoclass:: JointDriveFragment
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.. autoclass:: MassCfg
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.. autoclass:: MassFragment
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.. autoclass:: MeshCollisionFragment
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.. autoclass:: MjcfFileCfg
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.. autoclass:: RigidBodyFragment
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.. autoclass:: SchemaFragment
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.. autoclass:: SensorFrameCfg
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.. autoclass:: SpatialTendonFragment
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.. autoclass:: UsdFileWithCompliantContactCfg
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.. autoclass:: UsdPhysicsCollisionCfg
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.. autoclass:: UsdPhysicsDriveCfg
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.. autoclass:: UsdPhysicsMeshCollisionCfg
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.. autoclass:: UsdPhysicsRigidBodyCfg
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