mani_skill.utils.building.actors.common
=======================================

.. py:module:: mani_skill.utils.building.actors.common

.. autoapi-nested-parse::

   Common utilities for adding primitive prebuilt shapes to a scene



Attributes
----------

.. autoapisummary::

   mani_skill.utils.building.actors.common.BLUE_COLOR
   mani_skill.utils.building.actors.common.GREEN_COLOR
   mani_skill.utils.building.actors.common.RED_COLOR


Functions
---------

.. autoapisummary::

   mani_skill.utils.building.actors.common._build_by_type
   mani_skill.utils.building.actors.common.build_box
   mani_skill.utils.building.actors.common.build_colorful_cube
   mani_skill.utils.building.actors.common.build_cube
   mani_skill.utils.building.actors.common.build_cylinder
   mani_skill.utils.building.actors.common.build_fourcolor_peg
   mani_skill.utils.building.actors.common.build_red_white_target
   mani_skill.utils.building.actors.common.build_sphere
   mani_skill.utils.building.actors.common.build_twocolor_peg
   mani_skill.utils.building.actors.common.get_actor_builder


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

.. py:function:: _build_by_type(builder, name, body_type, scene_idxs = None, initial_pose = None)

.. py:function:: build_box(scene, half_sizes, color, name, body_type = 'dynamic', add_collision = True, scene_idxs = None, initial_pose = None)

.. py:function:: build_colorful_cube(scene, half_size, color, name, body_type = 'dynamic', add_collision = True, scene_idxs = None, initial_pose = None)

.. py:function:: build_cube(scene, half_size, color, name, body_type = 'dynamic', add_collision = True, scene_idxs = None, initial_pose = None)

.. py:function:: build_cylinder(scene, radius, half_length, color, name, body_type = 'dynamic', add_collision = True, scene_idxs = None, initial_pose = None)

.. py:function:: build_fourcolor_peg(scene, length, width, name, color_1=RED_COLOR, color_2=BLUE_COLOR, color_3=GREEN_COLOR, color_4=[1, 1, 1, 1], body_type='dynamic', add_collision = True, scene_idxs = None, initial_pose = None)

   A peg with four sections and four different colors. Useful for visualizing every possible rotation without any symmetries


.. py:function:: build_red_white_target(scene, radius, thickness, name, body_type = 'dynamic', add_collision = True, scene_idxs = None, initial_pose = None)

.. py:function:: build_sphere(scene, radius, color, name, body_type = 'dynamic', add_collision = True, scene_idxs = None, initial_pose = None)

.. py:function:: build_twocolor_peg(scene, length, width, color_1, color_2, name, body_type='dynamic', add_collision = True, scene_idxs = None, initial_pose = None)

.. py:function:: get_actor_builder(scene, id, add_collision = True, add_visual = True)

   Returns an :py:class:`~mani_skill.utils.building.actor_builder.ActorBuilder` given an ID specifying which dataset/source and then the ID of the asset.

   Currently these IDs are hardcoded for a few datasets. We may add more actor datasets in the future for easy loading by users

   :param scene: The ManiSkillScene. If building a custom task this is generally just self.scene
   :param id: The unique ID identifying the dataset and the ID of the actor in that dataset to build. The format should be
              "<dataset_id>:<actor_id_in_dataset>"
   :type id: str
   :param add_collision: Whether to include the collision shapes/meshes
   :type add_collision: bool
   :param add_visual: Whether to include visual shapes/meshes
   :type add_visual: bool


.. py:data:: BLUE_COLOR

.. py:data:: GREEN_COLOR

.. py:data:: RED_COLOR