mani_skill.utils.geometry.trimesh_utils#

Functions#

get_actor_visual_mesh(actor)

get_actor_visual_meshes(actor)

Get actor (visual) meshes in the actor frame.

get_component_mesh(component[, to_world_frame])

get_component_meshes(component)

Get component (collision) meshes in the component's frame.

get_render_body_meshes(visual_body)

get_render_shape_meshes(render_shape)

merge_meshes(meshes)

Module Contents#

mani_skill.utils.geometry.trimesh_utils.get_actor_visual_mesh(actor)[source]#
Parameters:

actor (sapien.Entity) –

mani_skill.utils.geometry.trimesh_utils.get_actor_visual_meshes(actor)[source]#

Get actor (visual) meshes in the actor frame.

Parameters:

actor (sapien.Entity) –

mani_skill.utils.geometry.trimesh_utils.get_component_mesh(component, to_world_frame=True)[source]#
Parameters:

component (sapien.physx.PhysxRigidBaseComponent) –

mani_skill.utils.geometry.trimesh_utils.get_component_meshes(component)[source]#

Get component (collision) meshes in the component’s frame.

Parameters:

component (sapien.physx.PhysxRigidBaseComponent) –

mani_skill.utils.geometry.trimesh_utils.get_render_body_meshes(visual_body)[source]#
Parameters:

visual_body (sapien.render.RenderBodyComponent) –

mani_skill.utils.geometry.trimesh_utils.get_render_shape_meshes(render_shape)[source]#
Parameters:

render_shape (sapien.render.RenderShape) –

mani_skill.utils.geometry.trimesh_utils.merge_meshes(meshes)[source]#
Parameters:

meshes (list[trimesh.Trimesh]) –