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

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


Submodules
----------

.. toctree::
   :maxdepth: 1

   /api/mani_skill/utils/building/_mjcf_loader/index
   /api/mani_skill/utils/building/actor_builder/index
   /api/mani_skill/utils/building/actors/index
   /api/mani_skill/utils/building/articulation_builder/index
   /api/mani_skill/utils/building/articulations/index
   /api/mani_skill/utils/building/ground/index
   /api/mani_skill/utils/building/mjcf_loader/index
   /api/mani_skill/utils/building/urdf_loader/index


Classes
-------

.. autoapisummary::

   mani_skill.utils.building.ActorBuilder
   mani_skill.utils.building.ArticulationBuilder
   mani_skill.utils.building.MJCFLoader
   mani_skill.utils.building.URDFLoader


Functions
---------

.. autoapisummary::

   mani_skill.utils.building.get_articulation_builder


Package 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_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



.. py:class:: ArticulationBuilder

   Bases: :py:obj:`sapien.wrapper.articulation_builder.ArticulationBuilder`


   .. py:method:: _build_entities(fix_root_link=None, name_prefix='', initial_pose=sapien.Pose())


   .. py:method:: build(name=None, fix_root_link=None, build_mimic_joints=True)


   .. py:method:: build_entities(*args, **kwargs)
      :abstractmethod:



   .. py:method:: create_link_builder(parent = None)


   .. py:method:: set_name(name)


   .. 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:: disable_self_collisions
      :type:  bool
      :value: False



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



   .. py:attribute:: name
      :value: None



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


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



.. py:class:: MJCFLoader(ignore_classes=['motor'], visual_groups=[0, 2])

   Bases: :py:obj:`mani_skill.utils.building._mjcf_loader.MJCFLoader`


   Wrapper for the SAPIEN MJCF Loader to support easy parallelization


   .. py:method:: load(mjcf_file, package_dir=None, name=None, scene_idxs=None)

      :param urdf_file: filename for URDL file
      :param srdf_file: SRDF for urdf_file. If srdf_file is None, it defaults to the ".srdf" file with the same as the urdf file
      :param package_dir: base directory used to resolve asset files in the URDF file. If an asset path starts with "package://", "package://" is simply removed from the file name
      :param name: name of the created articulation
      :type name: str
      :param scene_idxs: the ids of the scenes to build the objects in
      :type scene_idxs: list[int]

      :returns: returns a single Articulation loaded from the URDF file. It throws an error if multiple objects exists



   .. py:method:: parse(mjcf_file, package_dir=None)

      Parses a given MJCF file into articulation builders and actor builders and sensor configs



   .. py:attribute:: disable_self_collisions
      :type:  bool
      :value: False



   .. py:attribute:: name
      :type:  str
      :value: None



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


.. py:class:: URDFLoader

   Bases: :py:obj:`sapien.wrapper.urdf_loader.URDFLoader`


   .. py:method:: load(urdf_file, srdf_file=None, package_dir=None, name=None, scene_idxs=None)

      :param urdf_file: filename for URDL file
      :param srdf_file: SRDF for urdf_file. If srdf_file is None, it defaults to the ".srdf" file with the same as the urdf file
      :param package_dir: base directory used to resolve asset files in the URDF file. If an asset path starts with "package://", "package://" is simply removed from the file name
      :param name: name of the created articulation
      :type name: str
      :param scene_idxs: the ids of the scenes to build the objects in
      :type scene_idxs: list[int]

      :returns: returns a single Articulation loaded from the URDF file. It throws an error if multiple objects exists



   .. py:method:: load_file_as_articulation_builder(urdf_file, srdf_file=None, package_dir=None)


   .. py:method:: parse(urdf_file, srdf_file=None, package_dir=None)


   .. py:attribute:: disable_self_collisions
      :type:  bool
      :value: False



   .. py:attribute:: name
      :type:  str
      :value: None



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


.. py:function:: get_articulation_builder(scene, id, fix_root_link = True, urdf_config = dict())

   Builds an articulation or returns an articulation builder given an ID specifying which dataset/source and then the articulation ID

   Currently these IDs are hardcoded for a few datasets. The new Shapedex platform for hosting and managing all assets will be
   integrated in the future