mani_skill.utils.building.actor_builder
=======================================

.. py:module:: mani_skill.utils.building.actor_builder


Classes
-------

.. autoapisummary::

   mani_skill.utils.building.actor_builder.ActorBuilder


Module Contents
---------------

.. py:class:: ActorBuilder

   Bases: :py:obj:`sapien.ActorBuilder`


   ActorBuilder class to flexibly build actors in both CPU and GPU simulations.
   This directly inherits the original flexible ActorBuilder from sapien and changes the build functions to support a batch of scenes and return a batch of Actors


   .. py:method:: add_plane_repeated_visual(pose = sapien.Pose(), half_size = [5, 5], mat = None, texture_repeat = [1, 1])

      Procedurally generateds a repeated 2D texture. Works similarly to https://mujoco.readthedocs.io/en/stable/XMLreference.html#asset-material-texrepeat

      currently this always adds a back face

      :param texture_repeat: the number of times to repeat the texture in each direction.



   .. py:method:: build(name)

      Build the actor with the given name.

      Different to the original SAPIEN API, a unique name is required here.



   .. py:method:: build_dynamic(name)


   .. py:method:: build_entity()

      build the raw sapien entity. Modifies original SAPIEN function to accept new procedurally generated render components



   .. py:method:: build_kinematic(name)


   .. py:method:: build_physx_component(link_parent=None)


   .. py:method:: build_static(name)


   .. py:method:: set_allow_overlapping_plane_collisions(v)

      Set whether or not to permit allowing overlapping plane collisions. In general if you are creating an Actor with a plane collision that is parallelized across multiple
      sub-scenes, you only need one of those collision shapes. If you add multiple, it will cause the simulation to slow down significantly. By default this is set to False



   .. py:method:: set_scene(scene)


   .. py:method:: set_scene_idxs(scene_idxs = None)

      Set a list of scene indices to build this object in. Cannot be used in conjunction with scene mask



   .. py:attribute:: _allow_overlapping_plane_collisions
      :value: False



   .. py:attribute:: _plane_collision_poses


   .. py:attribute:: _procedural_shapes
      :value: []


      procedurally generated shapes to attach


   .. py:attribute:: initial_pose
      :value: None



   .. py:attribute:: scene
      :type:  mani_skill.envs.scene.ManiSkillScene


   .. py:attribute:: scene_idxs
      :value: None