mani_skill.utils.building.articulation_builder#

Classes#

ArticulationBuilder

Module Contents#

class mani_skill.utils.building.articulation_builder.ArticulationBuilder[source]#

Bases: sapien.wrapper.articulation_builder.ArticulationBuilder

_build_entities(fix_root_link=None, name_prefix='', initial_pose=sapien.Pose())[source]#

build(name=None, fix_root_link=None, build_mimic_joints=True)[source]#

Return type:: mani_skill.utils.structs.Articulation

abstract build_entities(*args, **kwargs)[source]#

create_link_builder(parent=None)[source]#

Parameters:: parent (sapien.wrapper.articulation_builder.LinkBuilder) –

set_name(name)[source]#

Parameters:: name (str) –

set_scene_idxs(scene_idxs=None)[source]#

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

Parameters:: scene_idxs (Optional[Union[list[int], Sequence[int], torch.Tensor, numpy.ndarray]]) –

disable_self_collisions: bool = False[source]#

initial_pose = None[source]#

name = None[source]#

scene: mani_skill.envs.scene.ManiSkillScene[source]#

scene_idxs = None[source]#