mani_skill.utils.structs.articulation_joint

Classes

ArticulationJoint

Wrapper around physx.PhysxArticulationJoint objects

Module Contents

class mani_skill.utils.structs.articulation_joint.ArticulationJoint

Bases: mani_skill.utils.structs.base.BaseStruct[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

__hash__()

__repr__()

__str__()

classmethod create(physx_joints, physx_articulations, scene, scene_idxs, joint_index, active_joint_index=None)

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

Parameters:

• physx_joints (list[sapien.physx.PhysxArticulationJoint]) –

• physx_articulations (list[sapien.physx.PhysxArticulation]) –

• scene (mani_skill.envs.scene.ManiSkillScene) –

• scene_idxs (torch.Tensor) –

• joint_index (torch.Tensor) –

• active_joint_index (torch.Tensor) –

get_child_link()

get_damping()

Return type:

float

get_dof()

Return type:

int

get_drive_mode()

get_drive_target()

get_force_limit()

get_friction()

get_global_pose()

get_limits()

get_name()

get_parent_link()

get_pose_in_child()

get_pose_in_parent()

get_stiffness()

Return type:

float

get_type()

set_drive_properties(stiffness, damping, force_limit=3.4028234663852886e+38, mode='force')

Parameters:

• stiffness (float) –

• damping (float) –

• force_limit (float) –

• mode (Literal['force', 'acceleration']) –

set_drive_target(target)

Parameters:

target (mani_skill.utils.structs.types.Array) –

Return type:

None

set_drive_velocity_target(velocity)

Parameters:

velocity (mani_skill.utils.structs.types.Array) –

Return type:

None

set_friction(friction)

Parameters:

friction (float) –

set_limits(limits)

Parameters:

limits (mani_skill.utils.structs.types.Array) –

Return type:

None

property _data_index

_physx_articulations: list[sapien.physx.PhysxArticulation] = None

active_index: torch.Tensor

index of this joint amongst the active joints

articulation: mani_skill.utils.structs.articulation.Articulation | None = None

child_link: mani_skill.utils.structs.link.Link | None = None

property damping: torch.Tensor

Return type:

torch.Tensor

property dof: torch.Tensor

Return type:

torch.Tensor

property drive_mode: list[Literal['force', 'acceleration']]

typing.Literal[‘force’, ‘acceleration’]

Type:

type

Return type:

list[Literal[‘force’, ‘acceleration’]]

property drive_target: torch.Tensor

Return type:

torch.Tensor

property drive_velocity_target: torch.Tensor

Return type:

torch.Tensor

property force_limit: torch.Tensor

Return type:

torch.Tensor

property friction: torch.Tensor

Return type:

torch.Tensor

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

Return type:

mani_skill.utils.structs.pose.Pose

index: torch.Tensor

index of this joint among all joints

property limits: torch.Tensor

Return type:

torch.Tensor

name: str = None

parent_link: mani_skill.utils.structs.link.Link | None = None

property pose_in_child

property pose_in_parent

property qpos

The qpos of this joint in the articulation

property qvel

The qvel of this joint in the articulation

property stiffness: torch.Tensor

Return type:

torch.Tensor

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

Return type:

list[Literal[‘fixed’, ‘revolute’, ‘revolute_unwrapped’, ‘prismatic’, ‘free’]]