mani\_skill.utils.structs.Articulation
======================================

.. currentmodule:: mani_skill.utils.structs

.. autoclass:: Articulation

   
   
   
   .. rubric:: Methods

   .. autosummary::
   
      ~Articulation.__init__
      ~Articulation.compute_passive_force
      ~Articulation.create_from_physx_articulations
      ~Articulation.create_pinocchio_model
      ~Articulation.find_joint_by_name
      ~Articulation.find_link_by_name
      ~Articulation.get_active_joints
      ~Articulation.get_collision_meshes
      ~Articulation.get_dof
      ~Articulation.get_drive_targets
      ~Articulation.get_drive_velocities
      ~Articulation.get_first_collision_mesh
      ~Articulation.get_first_visual_mesh
      ~Articulation.get_joint_target_indices
      ~Articulation.get_joints
      ~Articulation.get_link_incoming_joint_forces
      ~Articulation.get_links
      ~Articulation.get_name
      ~Articulation.get_net_contact_forces
      ~Articulation.get_net_contact_impulses
      ~Articulation.get_pose
      ~Articulation.get_qf
      ~Articulation.get_qlimits
      ~Articulation.get_qpos
      ~Articulation.get_qvel
      ~Articulation.get_root
      ~Articulation.get_root_angular_velocity
      ~Articulation.get_root_linear_velocity
      ~Articulation.get_root_pose
      ~Articulation.get_state
      ~Articulation.get_visual_meshes
      ~Articulation.merge
      ~Articulation.set_joint_drive_targets
      ~Articulation.set_joint_drive_velocity_targets
      ~Articulation.set_pose
      ~Articulation.set_qf
      ~Articulation.set_qpos
      ~Articulation.set_qvel
      ~Articulation.set_root_angular_velocity
      ~Articulation.set_root_linear_velocity
      ~Articulation.set_root_pose
      ~Articulation.set_state
   
   

   
   
   .. rubric:: Attributes

   .. autosummary::
   
      ~Articulation.device
      ~Articulation.dof
      ~Articulation.drive_targets
      ~Articulation.drive_velocities
      ~Articulation.fixed_root_link
      ~Articulation.initial_pose
      ~Articulation.max_dof
      ~Articulation.merged
      ~Articulation.name
      ~Articulation.pose
      ~Articulation.px
      ~Articulation.qacc
      ~Articulation.qf
      ~Articulation.qlimits
      ~Articulation.qpos
      ~Articulation.qvel
      ~Articulation.root_angular_velocity
      ~Articulation.root_linear_velocity
      ~Articulation.root_pose
      ~Articulation.links
      ~Articulation.links_map
      ~Articulation.root
      ~Articulation.joints
      ~Articulation.joints_map
      ~Articulation.active_joints
      ~Articulation.active_joints_map
      ~Articulation.scene