mani_skill.utils.structs.articulation_joint
===========================================

.. py:module:: mani_skill.utils.structs.articulation_joint


Classes
-------

.. autoapisummary::

   mani_skill.utils.structs.articulation_joint.ArticulationJoint


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

.. py:class:: ArticulationJoint

   Bases: :py:obj:`mani_skill.utils.structs.base.BaseStruct`\ [\ :py:obj:`sapien.physx.PhysxArticulationJoint`\ ]


   Wrapper around physx.PhysxArticulationJoint objects

   At the moment, all of the same joints across all sub scenes are restricted to having the same properties as each other


   .. py:method:: __hash__()


   .. py:method:: __repr__()


   .. py:method:: __str__()


   .. py:method:: create(physx_joints, physx_articulations, scene, scene_idxs, joint_index, active_joint_index = None)
      :classmethod:


      Creates an object for managing articulation joints in articulations

      Note that the properties articulation, child_link, parent_link are by default None
      as they might not make sense in GPU sim and must be set by user



   .. py:method:: get_child_link()


   .. py:method:: get_damping()


   .. py:method:: get_dof()


   .. py:method:: get_drive_mode()


   .. py:method:: get_drive_target()


   .. py:method:: get_force_limit()


   .. py:method:: get_friction()


   .. py:method:: get_global_pose()


   .. py:method:: get_limits()


   .. py:method:: get_name()


   .. py:method:: get_parent_link()


   .. py:method:: get_pose_in_child()


   .. py:method:: get_pose_in_parent()


   .. py:method:: get_stiffness()


   .. py:method:: get_type()


   .. py:method:: set_drive_properties(stiffness, damping, force_limit = 3.4028234663852886e+38, mode = 'force')


   .. py:method:: set_drive_target(target)


   .. py:method:: set_drive_velocity_target(velocity)


   .. py:method:: set_friction(friction)


   .. py:method:: set_limits(limits)


   .. py:property:: _data_index


   .. py:attribute:: _physx_articulations
      :type:  list[sapien.physx.PhysxArticulation]
      :value: None



   .. py:attribute:: active_index
      :type:  torch.Tensor

      index of this joint amongst the active joints


   .. py:attribute:: articulation
      :type:  Optional[mani_skill.utils.structs.articulation.Articulation]
      :value: None



   .. py:attribute:: child_link
      :type:  Optional[mani_skill.utils.structs.link.Link]
      :value: None



   .. py:property:: damping
      :type: torch.Tensor



   .. py:property:: dof
      :type: torch.Tensor



   .. py:property:: drive_mode
      :type: list[Literal['force', 'acceleration']]


      typing.Literal['force', 'acceleration']

      :type: type


   .. py:property:: drive_target
      :type: torch.Tensor



   .. py:property:: drive_velocity_target
      :type: torch.Tensor



   .. py:property:: force_limit
      :type: torch.Tensor



   .. py:property:: friction
      :type: torch.Tensor



   .. py:property:: global_pose
      :type: mani_skill.utils.structs.pose.Pose



   .. py:attribute:: index
      :type:  torch.Tensor

      index of this joint among all joints


   .. py:property:: limits
      :type: torch.Tensor



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



   .. py:attribute:: parent_link
      :type:  Optional[mani_skill.utils.structs.link.Link]
      :value: None



   .. py:property:: pose_in_child


   .. py:property:: pose_in_parent


   .. py:property:: qpos

      The qpos of this joint in the articulation


   .. py:property:: qvel

      The qvel of this joint in the articulation


   .. py:property:: stiffness
      :type: torch.Tensor



   .. py:property:: type
      :type: list[Literal['fixed', 'revolute', 'revolute_unwrapped', 'prismatic', 'free']]