mani_skill.utils.structs.drive

Classes

Drive

Module Contents

class mani_skill.utils.structs.drive.Drive

Bases: mani_skill.utils.structs.PhysxJointComponentStruct[sapien.physx.PhysxDriveComponent]

__hash__()

static create_from_actors_or_links(scene, entities0=None, pose0=None, entities1=None, pose1=None, scene_idxs=None)

create a batched drive between two Actors/Links

Parameters:

• scene (mani_skill.envs.scene.ManiSkillScene)

• entities0 (Union[mani_skill.utils.structs.Actor, mani_skill.utils.structs.Link])

• pose0 (Union[sapien.Pose, mani_skill.utils.structs.Pose])

• entities1 (Union[mani_skill.utils.structs.Actor, mani_skill.utils.structs.Link])

• pose1 (Union[sapien.Pose, mani_skill.utils.structs.Pose])

• scene_idxs (torch.Tensor)

Return type:

Drive

classmethod create_from_entities(scene, bodies0=None, pose0=None, bodies1=None, pose1=None, scene_idxs=None)

Parameters:

• scene (mani_skill.envs.scene.ManiSkillScene)

• bodies0 (Sequence[Union[sapien.Entity, sapien.physx.PhysxRigidBaseComponent]])

• pose0 (Union[sapien.Pose, mani_skill.utils.structs.Pose])

• bodies1 (Sequence[Union[sapien.Entity, sapien.physx.PhysxRigidBaseComponent]])

• pose1 (Union[sapien.Pose, mani_skill.utils.structs.Pose])

• scene_idxs (torch.Tensor)

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

Parameters:

• stiffness (float)

• damping (float)

• force_limit (float)

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

Return type:

None

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

Parameters:

• stiffness (float)

• damping (float)

• force_limit (float)

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

Return type:

None

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

Parameters:

• stiffness (float)

• damping (float)

• force_limit (float)

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

Return type:

None

set_limit_x(low, high, stiffness=0.0, damping=0.0)

Parameters:

• low (float)

• high (float)

• stiffness (float)

• damping (float)

Return type:

None

set_limit_y(low, high, stiffness=0.0, damping=0.0)

Parameters:

• low (float)

• high (float)

• stiffness (float)

• damping (float)

Return type:

None

set_limit_z(low, high, stiffness=0.0, damping=0.0)

Parameters:

• low (float)

• high (float)

• stiffness (float)

• damping (float)

Return type:

None