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source/isaaclab/test/assets/test_articulation.py

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import isaaclab.utils.string as string_utils
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from isaaclab.actuators import ActuatorBase, IdealPDActuatorCfg, ImplicitActuatorCfg
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from isaaclab.assets import Articulation, ArticulationCfg
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from isaaclab.envs.mdp.terminations import joint_pos_out_of_limit
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from isaaclab.managers import SceneEntityCfg
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from isaaclab.sim import build_simulation_context
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from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
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from isaaclab.managers import SceneEntityCfg
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from isaaclab.envs.mdp.terminations import joint_pos_out_of_limit
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##
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# Pre-defined configs

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