Isaac Lab Framework¶

This section contains documentation for the Isaac Lab framework adapter, which provides tools for exporting policies from Isaac Lab to ONNX format using exploy.

Environment¶

The exportable environment adapter for Isaac Lab.

class exploy.exporter.frameworks.isaaclab.env.IsaacLabExportableEnvironment(env)[source]¶

Bases: ExportableEnvironment

__init__(env)[source]¶

property env: isaaclab.envs.ManagerBasedRLEnv¶

property decimation: int¶: Return metadata about the environment required for export.

prepare_export()[source]¶: Prepare the environment for export. Called before each export.

cleanup()[source]¶

compute_observations()[source]¶

Compute and return the observations of the environment.

Return type:: Tensor

process_actions(actions)[source]¶: Process actions.

apply_actions()[source]¶: Apply processed actions (e.g., joint targets) to the environment

validate()[source]¶

Validate that the environment conforms to the ExportableEnvironment interface.

Return type:: bool

empty_actor_observations()[source]¶

Return type:: Tensor

empty_actions()[source]¶

Return type:: Tensor

metadata()[source]¶

Return metadata about the environment required for export.

Return type:: dict[str, str]

register_evaluation_hooks(update, reset, evaluate_substep)[source]¶: Register evaluation hooks for this environment.

step(actions)[source]¶

Step the environment forward by one step.

Return type:: tuple[Tensor, bool]

get_observation_names()[source]¶

Get the names of the observations in the environment.

Return type:: list[str]

observations_reset()[source]¶

Get the observations after an environment reset.

Return type:: Tensor

Actor¶

Actor wrappers for RSL-RL policy networks.

class exploy.exporter.frameworks.isaaclab.actor.RslRlRecurrentActor(actor_critic)[source]¶

Bases: ExportableActor

An actor that wraps an RslRl ActorCriticRecurrent and adds its memory as inputs to the context.

__init__(actor_critic)[source]¶: Initialize internal Module state, shared by both nn.Module and ScriptModule.

forward(obs)[source]¶

Given a batch of observations, compute the corresponding actions.

Parameters:: obs (Tensor) – A tensor of shape (batch_size, obs_dim) containing the observations.
Return type:: Tensor

reset(dones)[source]¶

Reset the actor’s internal state (e.g., RNN hidden states) based on the done flags.

Parameters:: dones (Tensor) – A tensor of shape (batch_size,) containing boolean flags indicating which environments have been reset.

get_state()[source]¶

Get the actor’s internal state as a tuple of tensors, or None if there is no state.

Return type:: tuple[Tensor, ...] | None

class exploy.exporter.frameworks.isaaclab.actor.RslRlActor(actor_critic)[source]¶

Bases: ExportableActor

An actor that wraps an RslRl ActorCritic and normalizes its observations.

__init__(actor_critic)[source]¶: Initialize internal Module state, shared by both nn.Module and ScriptModule.

forward(obs)[source]¶

Given a batch of observations, compute the corresponding actions.

Parameters:: obs (Tensor) – A tensor of shape (batch_size, obs_dim) containing the observations.
Return type:: Tensor

exploy.exporter.frameworks.isaaclab.actor.make_exportable_actor(env, actor_critic, device)[source]¶

Create an exportable actor from an RslRl ActorCritic or ActorCriticRecurrent.

Parameters:

env (ExportableEnvironment) – The exportable environment that the actor will be used in.
actor_critic (ActorCritic | ActorCriticRecurrent) – The RslRl ActorCritic or ActorCriticRecurrent to wrap.
device (str) – The device to put the actor on.

Return type:

ExportableActor

Inputs¶

Utilities for registering command inputs from Isaac Lab managers.

exploy.exporter.frameworks.isaaclab.inputs.add_commands(command_manager, context_manager)[source]¶

Add command inputs from the command manager to the context manager.

This function processes all active command terms in the command manager and adds them as inputs to the context manager. Currently supports UniformVelocityCommand.

Parameters:

command_manager (CommandManager) – The IsaacLab command manager containing active command terms.
context_manager (ContextManager) – The context manager to add command inputs to.

exploy.exporter.frameworks.isaaclab.inputs.add_body_pos(articulations, context_manager)[source]¶

Add body position inputs for all articulations, skipping root bodies.

For each articulation, this function adds inputs for the position of each body belonging to that articulation.

Parameters:

articulations (dict[str, Articulation]) – Dictionary mapping object names to Articulation instances.
context_manager (ContextManager) – The context manager to add body pose inputs to.

exploy.exporter.frameworks.isaaclab.inputs.add_body_quat(articulations, context_manager)[source]¶

Add body orientation inputs for all articulations, skipping root bodies.

For each articulation, this function adds inputs for the quaternion of each body belonging to that articulation.

Parameters:

articulations (dict[str, Articulation]) – Dictionary mapping object names to Articulation instances.
context_manager (ContextManager) – The context manager to add body pose inputs to.

exploy.exporter.frameworks.isaaclab.inputs.add_body_pos_and_quat(articulations, context_manager)[source]¶

Add body position and orientation inputs for all articulations, skipping root bodies.

For each articulation, this function adds inputs for the position and quaternion of each body belonging to that articulation.

Parameters:

articulations (dict[str, Articulation]) – Dictionary mapping object names to Articulation instances.
context_manager (ContextManager) – The context manager to add body pose inputs to.

exploy.exporter.frameworks.isaaclab.inputs.add_base_vel(articulations, context_manager)[source]¶

Add base velocity inputs for all articulations.

For each articulation, this function adds inputs for the base linear and angular velocities in the base frame.

Parameters:

articulations (dict[str, Articulation]) – Dictionary mapping object names to Articulation instances.
context_manager (ContextManager) – The context manager to add base velocity inputs to.

exploy.exporter.frameworks.isaaclab.inputs.add_base_pose(articulations, context_manager)[source]¶

Add base pose inputs for all articulations.

For each articulation, this function adds inputs for the base position and orientation in the world frame.

Parameters:

articulations (dict[str, Articulation]) – Dictionary mapping object names to Articulation instances.
context_manager (ContextManager) – The context manager to add base pose inputs to.

exploy.exporter.frameworks.isaaclab.inputs.add_joint_pos_and_vel(articulations, context_manager)[source]¶

Add joint position and velocity inputs for all articulations.

For each articulation, this function creates a group containing joint positions and velocities, along with metadata about joint names.

Parameters:

articulations (dict[str, Articulation]) – Dictionary mapping object names to Articulation instances.
context_manager (ContextManager) – The context manager to add joint state inputs to.

exploy.exporter.frameworks.isaaclab.inputs.add_sensor_inputs(sensors, context_manager)[source]¶

Add sensor inputs to the context manager.

This function processes all sensors and adds their data as inputs to the context manager. Currently supports RayCaster sensors with GridPatternCfg.

Parameters:

sensors (dict[str, SensorBase]) – Dictionary mapping sensor names to SensorBase instances.
context_manager (ContextManager) – The context manager to add sensor inputs to.

Outputs¶

Utilities for registering action outputs from Isaac Lab managers.

exploy.exporter.frameworks.isaaclab.outputs.add_outputs(action_manager, context_manager)[source]¶

Add output components from the action manager to the context manager.

This function processes all active action terms in the action manager and adds them as outputs to the context manager. Currently supports JointAction terms, which are added as groups containing joint position, velocity, and effort targets along with actuator gain metadata.

Parameters:

action_manager (ActionManager) – The IsaacLab action manager containing active action terms.
context_manager (ContextManager) – The context manager to add output components to.

Memory¶

Utilities for registering memory components parsed from Isaac Lab managers.

exploy.exporter.frameworks.isaaclab.memory.add_memory(env, context_manager)[source]¶

Parse the managers of an environment and keep track of all elements that require memory.

This function parses the managers of a ManagerBasedRLEnv and keeps track of all elements that require memory handling. For example, we frequently pass the latest actions back as previous action inputs to a trained policy.

Parameters:

env (ManagerBasedRLEnv) – The IsaacLab ManagerBasedRLEnv to extract memory components from.
context_manager (ContextManager) – The context manager to add memory components to.

Data Sources¶

Adaptor classes that mirror Isaac Lab data interfaces while managing their own tensor data for ONNX export.

class exploy.exporter.frameworks.isaaclab.articulation_data.ArticulationDataSource(articulation)[source]¶

Bases: object

Mimic the interface of an ArticulationData, but manage its own tensor data.

This class is an adaptor for an ArticulationData class, mimicking its full interface. However, it holds its own tensor data. The main use case for this class is to be used in the context of exporting an MDP to ONNX.

__init__(articulation)[source]¶

update(*args, **kwargs)[source]¶: Empty update call to implement the interface of ArticulationData.

property root_state_w: Tensor¶

Root state [pos, quat, lin_vel, ang_vel] in simulation world frame. Shape is (num_instances, 13).

The position and quaternion are of the articulation root’s actor frame relative to the world. Meanwhile, the linear and angular velocities are of the articulation root’s center of mass frame.

property root_link_state_w: Tensor¶

Root state [pos, quat, lin_vel, ang_vel] in simulation world frame. Shape is (num_instances, 13).

The position, quaternion, and linear/angular velocity are of the articulation root’s actor frame relative to the world.

property root_com_state_w: Tensor¶

Root center of mass state [pos, quat, lin_vel, ang_vel] in simulation world frame. Shape is (num_instances, 13).

The position, quaternion, and linear/angular velocity are of the articulation root link’s center of mass frame relative to the world. Center of mass frame is assumed to be the same orientation as the link rather than the orientation of the principle inertia.

property body_state_w: Tensor¶

State of all bodies [pos, quat, lin_vel, ang_vel] in simulation world frame. Shape is (num_instances, num_bodies, 13).

The position and quaternion are of all the articulation links’s actor frame. Meanwhile, the linear and angular velocities are of the articulation links’s center of mass frame.

property body_link_state_w: Tensor¶

State of all bodies’ link frame`[pos, quat, lin_vel, ang_vel]` in simulation world frame. Shape is (num_instances, num_bodies, 13).

The position, quaternion, and linear/angular velocity are of the body’s link frame relative to the world.

property body_com_state_w: Tensor¶

State of all bodies center of mass [pos, quat, lin_vel, ang_vel] in simulation world frame. Shape is (num_instances, num_bodies, 13).

The position, quaternion, and linear/angular velocity are of the body’s center of mass frame relative to the world. Center of mass frame is assumed to be the same orientation as the link rather than the orientation of the principle inertia.

property body_acc_w: Tensor¶

Acceleration of all bodies (center of mass). Shape is (num_instances, num_bodies, 6).

All values are relative to the world.

property body_incoming_joint_wrench_b: Tensor¶

Joint reaction wrench applied from body parent to child body in parent body frame.

Shape is (num_instances, num_bodies, 6). All body reaction wrenches are provided including the root body to the world of an articulation

property projected_gravity_b: Tensor¶: Projection of the gravity direction on base frame. Shape is (num_instances, 3).

property heading_w: Tensor¶: Yaw heading of the base frame (in radians). Shape is (num_instances,).

Note

This quantity is computed by assuming that the forward-direction of the base frame is along x-direction, i.e. \((1, 0, 0)\).

property joint_pos: Tensor¶: Joint positions of all joints. Shape is (num_instances, num_joints).

property joint_vel: Tensor¶: Joint velocities of all joints. Shape is (num_instances, num_joints).

property joint_acc: Tensor¶: Joint acceleration of all joints. Shape is (num_instances, num_joints).

property root_pos_w: Tensor¶

Root position in simulation world frame. Shape is (num_instances, 3).

This quantity is the position of the actor frame of the articulation root relative to the world.

property root_quat_w: Tensor¶

Root orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).

This quantity is the orientation of the actor frame of the articulation root relative to the world.

property root_vel_w: Tensor¶

Root velocity in simulation world frame. Shape is (num_instances, 6).

This quantity contains the linear and angular velocities of the articulation root’s center of mass frame relative to the world.

property root_lin_vel_w: Tensor¶

Root linear velocity in simulation world frame. Shape is (num_instances, 3).

This quantity is the linear velocity of the articulation root’s center of mass frame relative to the world.

property root_ang_vel_w: Tensor¶

Root angular velocity in simulation world frame. Shape is (num_instances, 3).

This quantity is the angular velocity of the articulation root’s center of mass frame relative to the world.

property root_lin_vel_b: Tensor¶

Root linear velocity in base frame. Shape is (num_instances, 3).

This quantity is the linear velocity of the articulation root’s center of mass frame relative to the world with respect to the articulation root’s actor frame.

property root_ang_vel_b: Tensor¶

Root angular velocity in base world frame. Shape is (num_instances, 3).

This quantity is the angular velocity of the articulation root’s center of mass frame relative to the world with respect to the articulation root’s actor frame.

property root_link_pose_w: Tensor¶

Root link pose in simulation world frame. Shape is (num_instances, 7).

This quantity is the pose (position and orientation) of the actor frame of the root rigid body relative to the world.

property root_link_pos_w: Tensor¶

Root link position in simulation world frame. Shape is (num_instances, 3).

This quantity is the position of the actor frame of the root rigid body relative to the world.

property root_link_quat_w: Tensor¶

Root link orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).

This quantity is the orientation of the actor frame of the root rigid body.

property root_link_vel_w: Tensor¶

Root link velocity in simulation world frame. Shape is (num_instances, 6).

This quantity contains the linear and angular velocities of the actor frame of the root rigid body relative to the world.

property root_link_lin_vel_w: Tensor¶

Root linear velocity in simulation world frame. Shape is (num_instances, 3).

This quantity is the linear velocity of the root rigid body’s actor frame relative to the world.

property root_link_ang_vel_w: Tensor¶

Root link angular velocity in simulation world frame. Shape is (num_instances, 3).

This quantity is the angular velocity of the actor frame of the root rigid body relative to the world.

property root_link_lin_vel_b: Tensor¶

Root link linear velocity in base frame. Shape is (num_instances, 3).

This quantity is the linear velocity of the actor frame of the root rigid body frame with respect to the rigid body’s actor frame.

property root_link_ang_vel_b: Tensor¶

Root link angular velocity in base world frame. Shape is (num_instances, 3).

This quantity is the angular velocity of the actor frame of the root rigid body frame with respect to the rigid body’s actor frame.

property root_com_pos_w: Tensor¶

Root center of mass position in simulation world frame. Shape is (num_instances, 3).

This quantity is the position of the actor frame of the root rigid body relative to the world.

property root_com_quat_w: Tensor¶

Root center of mass orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).

This quantity is the orientation of the actor frame of the root rigid body relative to the world.

property root_com_vel_w: Tensor¶

Root center of mass velocity in simulation world frame. Shape is (num_instances, 6).

This quantity contains the linear and angular velocities of the root rigid body’s center of mass frame relative to the world.

property root_com_lin_vel_w: Tensor¶

Root center of mass linear velocity in simulation world frame. Shape is (num_instances, 3).

This quantity is the linear velocity of the root rigid body’s center of mass frame relative to the world.

property root_com_ang_vel_w: Tensor¶

Root center of mass angular velocity in simulation world frame. Shape is (num_instances, 3).

This quantity is the angular velocity of the root rigid body’s center of mass frame relative to the world.

property root_com_lin_vel_b: Tensor¶

Root center of mass linear velocity in base frame. Shape is (num_instances, 3).

This quantity is the linear velocity of the root rigid body’s center of mass frame with respect to the rigid body’s actor frame.

property root_com_ang_vel_b: Tensor¶

Root center of mass angular velocity in base world frame. Shape is (num_instances, 3).

This quantity is the angular velocity of the root rigid body’s center of mass frame with respect to the rigid body’s actor frame.

property body_pos_w: Tensor¶

Positions of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).

This quantity is the position of the rigid bodies’ actor frame relative to the world.

property body_quat_w: Tensor¶

Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 4).

This quantity is the orientation of the rigid bodies’ actor frame relative to the world.

property body_vel_w: Tensor¶

Velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 6).

This quantity contains the linear and angular velocities of the rigid bodies’ center of mass frame relative to the world.

property body_lin_vel_w: Tensor¶

Linear velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).

This quantity is the linear velocity of the rigid bodies’ center of mass frame relative to the world.

property body_ang_vel_w: Tensor¶

Angular velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).

This quantity is the angular velocity of the rigid bodies’ center of mass frame relative to the world.

property body_lin_acc_w: Tensor¶

Linear acceleration of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).

This quantity is the linear acceleration of the rigid bodies’ center of mass frame relative to the world.

property body_ang_acc_w: Tensor¶

Angular acceleration of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).

This quantity is the angular acceleration of the rigid bodies’ center of mass frame relative to the world.

property body_link_pos_w: Tensor¶

Positions of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).

This quantity is the position of the rigid bodies’ actor frame relative to the world.

property body_link_quat_w: Tensor¶

Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 4).

This quantity is the orientation of the rigid bodies’ actor frame relative to the world.

property body_link_vel_w: Tensor¶

Velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 6).

This quantity contains the linear and angular velocities of the rigid bodies’ center of mass frame relative to the world.

property body_link_lin_vel_w: Tensor¶

Linear velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).

This quantity is the linear velocity of the rigid bodies’ center of mass frame relative to the world.

For transforming velocities to a new point, see for example:: https://en.wikipedia.org/wiki/Angular_velocity#Spin_angular_velocity_of_a_rigid_body_or_reference_frame

property body_link_ang_vel_w: Tensor¶

Angular velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).

This quantity is the angular velocity of the rigid bodies’ center of mass frame relative to the world.

property body_com_pos_w: Tensor¶

Positions of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).

This quantity is the position of the rigid bodies’ actor frame.

property body_com_quat_w: Tensor¶

Orientation (w, x, y, z) of the prinicple axies of inertia of all bodies in simulation world frame.

Shape is (num_instances, num_bodies, 4). This quantity is the orientation of the rigid bodies’ actor frame.

property body_com_vel_w: Tensor¶

Velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 6).

This quantity contains the linear and angular velocities of the rigid bodies’ center of mass frame.

property body_com_lin_vel_w: Tensor¶

Linear velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).

This quantity is the linear velocity of the rigid bodies’ center of mass frame.

property body_com_ang_vel_w: Tensor¶

Angular velocity of all bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).

This quantity is the angular velocity of the rigid bodies’ center of mass frame.

property com_pos_b: Tensor¶

Center of mass of all of the bodies in simulation world frame. Shape is (num_instances, num_bodies, 3).

This quantity is the center of mass location relative to its body frame.

property com_quat_b: Tensor¶

Orientation (w,x,y,z) of the principle axies of inertia of all of the bodies in simulation world frame. Shape is (num_instances, num_bodies, 4).

This quantity is the orientation of the principles axes of inertia relative to its body frame.

property joint_limits: Tensor¶

property default_joint_limits: Tensor¶

property joint_velocity_limits: Tensor¶

property joint_friction: Tensor¶

property default_joint_friction: Tensor¶

property fixed_tendon_limit: Tensor¶

property default_fixed_tendon_limit: Tensor¶

class exploy.exporter.frameworks.isaaclab.raycaster_data.RayCasterDataSource(sensor, articulations)[source]¶

Bases: object

Mimic the interface of RayCasterData, but manage its own tensor data.

This class is an adaptor for RayCasterData, mimicking its interface. However, it computes pos_w dynamically from the articulation’s base position.

__init__(sensor, articulations)[source]¶

property pos_w: Tensor¶: Ray origin positions in world frame, computed from articulation base.

property ray_hits_w: Tensor¶: Ray hit positions in world frame.

update(*args, **kwargs)[source]¶: Empty update call to implement the interface of RayCasterData.

class exploy.exporter.frameworks.isaaclab.rigid_object_data.RigidObjectDataSource(rigid_object)[source]¶

Bases: object

Mimic the interface of a RigidObjectData, but manage its own tensor data.

This class is an adaptor for a RigidObjectData class, mimicking its full interface. However, it holds its own tensor data. The main use case for this class is to be used in the context of exporting an MDP to ONNX.

__init__(rigid_object)[source]¶

update(*args, **kwargs)[source]¶: Empty update call to implement the interface of RigidObjectData.

property root_state_w: Tensor¶

Root state [pos, quat, lin_vel, ang_vel] in simulation world frame. Shape is (num_instances, 13).

The position and orientation are of the rigid body’s actor frame. Meanwhile, the linear and angular velocities are of the rigid body’s center of mass frame.

property root_link_state_w: Tensor¶

Root state [pos, quat, lin_vel, ang_vel] in simulation world frame. Shape is (num_instances, 13).

The position, quaternion, and linear/angular velocity are of the rigid body root frame relative to the world.

property root_com_state_w: Tensor¶

Root center of mass state [pos, quat, lin_vel, ang_vel] in simulation world frame. Shape is (num_instances, 13).

The position, quaternion, and linear/angular velocity are of the rigid body’s center of mass frame relative to the world. Center of mass frame is the orientation principle axes of inertia.

property body_state_w: Tensor¶

State of all bodies [pos, quat, lin_vel, ang_vel] in simulation world frame. Shape is (num_instances, 1, 13).

The position and orientation are of the rigid bodies’ actor frame. Meanwhile, the linear and angular velocities are of the rigid bodies’ center of mass frame.

property body_link_state_w: Tensor¶

State of all bodies [pos, quat, lin_vel, ang_vel] in simulation world frame. Shape is (num_instances, 1, 13).

The position, quaternion, and linear/angular velocity are of the body’s link frame relative to the world.

property body_com_state_w: Tensor¶

State of all bodies [pos, quat, lin_vel, ang_vel] in simulation world frame. Shape is (num_instances, num_bodies, 13).

property body_acc_w: Tensor¶

Acceleration of all bodies. Shape is (num_instances, 1, 6).

This quantity is the acceleration of the rigid bodies’ center of mass frame.

property projected_gravity_b: Tensor¶: Projection of the gravity direction on base frame. Shape is (num_instances, 3).

property heading_w: Tensor¶: Yaw heading of the base frame (in radians). Shape is (num_instances,).

Note

This quantity is computed by assuming that the forward-direction of the base frame is along x-direction, i.e. \((1, 0, 0)\).

property root_pos_w: Tensor¶

Root position in simulation world frame. Shape is (num_instances, 3).

This quantity is the position of the actor frame of the root rigid body.

property root_quat_w: Tensor¶

Root orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).

This quantity is the orientation of the actor frame of the root rigid body.

property root_vel_w: Tensor¶

Root velocity in simulation world frame. Shape is (num_instances, 6).

This quantity contains the linear and angular velocities of the root rigid body’s center of mass frame.

property root_lin_vel_w: Tensor¶

Root linear velocity in simulation world frame. Shape is (num_instances, 3).

This quantity is the linear velocity of the root rigid body’s center of mass frame relative to the world.

property root_ang_vel_w: Tensor¶

Root angular velocity in simulation world frame. Shape is (num_instances, 3).

This quantity is the angular velocity of the root rigid body’s center of mass frame.

property root_lin_vel_b: Tensor¶

Root linear velocity in base frame. Shape is (num_instances, 3).

This quantity is the linear velocity of the root rigid body’s center of mass frame with respect to the rigid body’s actor frame.

property root_ang_vel_b: Tensor¶

Root angular velocity in base world frame. Shape is (num_instances, 3).

This quantity is the angular velocity of the root rigid body’s center of mass frame with respect to the rigid body’s actor frame.

property root_link_pos_w: Tensor¶

Root link position in simulation world frame. Shape is (num_instances, 3).

This quantity is the position of the actor frame of the root rigid body relative to the world.

property root_link_quat_w: Tensor¶

Root link orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).

This quantity is the orientation of the actor frame of the root rigid body.

property root_link_vel_w: Tensor¶

Root link velocity in simulation world frame. Shape is (num_instances, 6).

This quantity contains the linear and angular velocities of the actor frame of the root rigid body relative to the world.

property root_link_lin_vel_w: Tensor¶

Root linear velocity in simulation world frame. Shape is (num_instances, 3).

This quantity is the linear velocity of the root rigid body’s actor frame relative to the world.

property root_link_ang_vel_w: Tensor¶

Root link angular velocity in simulation world frame. Shape is (num_instances, 3).

This quantity is the angular velocity of the actor frame of the root rigid body relative to the world.

property root_link_lin_vel_b: Tensor¶

Root link linear velocity in base frame. Shape is (num_instances, 3).

This quantity is the linear velocity of the actor frame of the root rigid body frame with respect to the rigid body’s actor frame.

property root_link_ang_vel_b: Tensor¶

Root link angular velocity in base world frame. Shape is (num_instances, 3).

This quantity is the angular velocity of the actor frame of the root rigid body frame with respect to the rigid body’s actor frame.

property root_com_pos_w: Tensor¶

Root center of mass position in simulation world frame. Shape is (num_instances, 3).

This quantity is the position of the actor frame of the root rigid body relative to the world.

property root_com_quat_w: Tensor¶

Root center of mass orientation (w, x, y, z) in simulation world frame. Shape is (num_instances, 4).

This quantity is the orientation of the actor frame of the root rigid body relative to the world.

property root_com_vel_w: Tensor¶

Root center of mass velocity in simulation world frame. Shape is (num_instances, 6).

This quantity contains the linear and angular velocities of the root rigid body’s center of mass frame relative to the world.

property root_com_lin_vel_w: Tensor¶

Root center of mass linear velocity in simulation world frame. Shape is (num_instances, 3).

This quantity is the linear velocity of the root rigid body’s center of mass frame relative to the world.

property root_com_ang_vel_w: Tensor¶

Root center of mass angular velocity in simulation world frame. Shape is (num_instances, 3).

This quantity is the angular velocity of the root rigid body’s center of mass frame relative to the world.

property root_com_lin_vel_b: Tensor¶

Root center of mass linear velocity in base frame. Shape is (num_instances, 3).

This quantity is the linear velocity of the root rigid body’s center of mass frame with respect to the rigid body’s actor frame.

property root_com_ang_vel_b: Tensor¶

Root center of mass angular velocity in base world frame. Shape is (num_instances, 3).

This quantity is the angular velocity of the root rigid body’s center of mass frame with respect to the rigid body’s actor frame.

property body_pos_w: Tensor¶

Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).

This quantity is the position of the rigid bodies’ actor frame.

property body_quat_w: Tensor¶

Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, 1, 4).

This quantity is the orientation of the rigid bodies’ actor frame.

property body_vel_w: Tensor¶

Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).

This quantity contains the linear and angular velocities of the rigid bodies’ center of mass frame.

property body_lin_vel_w: Tensor¶

Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).

This quantity is the linear velocity of the rigid bodies’ center of mass frame.

property body_ang_vel_w: Tensor¶

Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).

This quantity is the angular velocity of the rigid bodies’ center of mass frame.

property body_lin_acc_w: Tensor¶

Linear acceleration of all bodies in simulation world frame. Shape is (num_instances, 1, 3).

This quantity is the linear acceleration of the rigid bodies’ center of mass frame.

property body_ang_acc_w: Tensor¶

Angular acceleration of all bodies in simulation world frame. Shape is (num_instances, 1, 3).

This quantity is the angular acceleration of the rigid bodies’ center of mass frame.

property body_link_pos_w: Tensor¶

Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).

This quantity is the position of the rigid bodies’ actor frame relative to the world.

property body_link_quat_w: Tensor¶

Orientation (w, x, y, z) of all bodies in simulation world frame. Shape is (num_instances, 1, 4).

This quantity is the orientation of the rigid bodies’ actor frame relative to the world.

property body_link_vel_w: Tensor¶

Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).

This quantity contains the linear and angular velocities of the actor frame of the root rigid body relative to the world.

property body_link_lin_vel_w: Tensor¶

Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).

This quantity is the linear velocity of the rigid bodies’ center of mass frame relative to the world.

property body_link_ang_vel_w: Tensor¶

Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).

This quantity is the angular velocity of the rigid bodies’ center of mass frame relative to the world.

property body_com_pos_w: Tensor¶

Positions of all bodies in simulation world frame. Shape is (num_instances, 1, 3).

This quantity is the position of the rigid bodies’ center of mass frame.

property body_com_quat_w: Tensor¶

Orientation (w, x, y, z) of the principle axis of inertia of all bodies in simulation world frame.

Shape is (num_instances, 1, 4). This quantity is the orientation of the rigid bodies’ center of mass frame.

property body_com_vel_w: Tensor¶

Velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 6).

This quantity contains the linear and angular velocities of the rigid bodies’ center of mass frame.

property body_com_lin_vel_w: Tensor¶

Linear velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).

This quantity is the linear velocity of the rigid bodies’ center of mass frame.

property body_com_ang_vel_w: Tensor¶

Angular velocity of all bodies in simulation world frame. Shape is (num_instances, 1, 3).

This quantity is the angular velocity of the rigid bodies’ center of mass frame.

property com_pos_b: Tensor¶

Center of mass position of all of the bodies in their respective link frames. Shape is (num_instances, 1, 3).

This quantity is the center of mass location relative to its body’s link frame.

property com_quat_b: Tensor¶

Orientation (w, x, y, z) of the principle axis of inertia of all of the bodies in their respective link frames. Shape is (num_instances, 1, 4).

This quantity is the orientation of the principles axes of inertia relative to its body’s link frame.

exploy.exporter.frameworks.isaaclab.rigid_object_data.rigid_object_data_to_dict(object_name, source, env_id)[source]¶

Return type:: dict[str, Tensor]

exploy.exporter.frameworks.isaaclab.rigid_object_data.dict_to_rigid_object_data(data, object_name, target, env_id)[source]¶

Return type:: None

Utilities¶

Helper functions for Isaac Lab integration.

exploy.exporter.frameworks.isaaclab.utils.get_articulation_actuator_gains(articulation)[source]¶

Get a dictionary of actuator gains.

Return type:: dict

exploy.exporter.frameworks.isaaclab.utils.get_observation_names(observation_manager, group_name='policy')[source]¶

Compute a list of observation names.

Given an ObservationManager and an observation group name, create a list of names for each entry in the manager’s observation group buffer.

Parameters:

observation_manager (ObservationManager) – An environment’s observation manager.
group_name (str) – The observation group for which we want to generate names.

Return type:

list[str]

Returns:

A list of names for each entry in the observation manager’s group buffer.

exploy.exporter.frameworks.isaaclab.utils.prim_path_to_body_expr(prim_path)[source]¶

Convert a primitive path to a body expression.

Parameters:: prim_path (str) – The primitive path to convert.
Return type:: str
Returns:: A body expression corresponding to the primitive path.

exploy.exporter.frameworks.isaaclab.utils.prim_path_to_articulation_and_body_ids(prim_path, articulations)[source]¶

Convert a primitive path to an articulation and body ids.

Parameters:

prim_path (str) – The primitive path to convert.
articulations (dict[str, Articulation]) – A dictionary of articulations in the scene, keyed by their primitive paths.

Return type:

tuple[Articulation, list[int]]

Returns:

A tuple containing the articulation and a list of body ids corresponding to the primitive path.