mani_skill.utils.structs.Actor

class mani_skill.utils.structs.Actor(_objs: List[T], _scene_idxs: torch.Tensor, scene: ManiSkillScene, _bodies: List[physx.PhysxRigidDynamicComponent], _body_data_name: str, _body_data_index_internal: slice = None, px_body_type: Literal['kinematic', 'static', 'dynamic'] = None, hidden: bool = False, initial_pose: Pose = None, name: str = None, merged: bool = False)

Wrapper around sapien.Entity objects mixed in with useful properties from the RigidBodyDynamicComponent components

At the moment, on GPU and CPU one can query pose, linear velocity, and angular velocity easily

On CPU, more properties are available

Methods

__init__(_objs, _scene_idxs, scene, _bodies, ...)
apply_force(force)	Apply an instantaneous external force to this actor in Newtons to the body's center of mass.
create_from_entities(entities, scene, scene_idxs)
get_angular_damping()
get_angular_velocity()
get_auto_compute_mass()
get_cmass_local_pose()
get_collision_meshes([to_world_frame, ...])	Returns the collision mesh of each managed actor object.
get_disable_gravity()
get_first_collision_mesh([to_world_frame])	Returns the collision mesh of the first managed actor object.
get_gpu_index()
get_gpu_pose_index()
get_linear_damping()
get_linear_velocity()
get_locked_motion_axes()
get_mass()
get_net_contact_forces()	Get the net contact forces on this body.
get_net_contact_impulses()	Get the net contact impulses on this body.
get_state()
hide_visual()	Hides this actor from view.
is_static([lin_thresh, ang_thresh])	Checks if this actor is static within the given linear velocity threshold lin_thresh and angular velocity threshold ang_thresh
merge(actors[, name])	Merge actors together under one view so that they can all be managed by one python dataclass object.
remove_from_scene()
set_angular_damping(damping)
set_angular_velocity(arg0)	Set the angular velocity of the dynamic rigid body.
set_collision_group(group, value)
set_collision_group_bit(group, bit_idx, bit)	Set's a specific collision group bit for all collision shapes in all parallel actors
set_disable_gravity(arg0)
set_linear_damping(damping)
set_linear_velocity(arg0)	Set the linear velocity of the dynamic rigid body.
set_locked_motion_axes(axes)	Set some motion axes of the dynamic rigid body to be locked :param axes: list of 6 true/false values indicating whether which of the 6 DOFs of the body is locked. The order is linear X, Y, Z followed by angular X, Y, Z. If given a single list of length 6, it will be applied to all managed bodies. If given a a batch of shape (N, 6), you can modify the N managed bodies each in batch.
set_mass(arg0)
set_pose(arg1)
set_state(state[, env_idx])
show_visual()

Attributes

angular_damping
angular_velocity
auto_compute_mass
cmass_local_pose
device
disable_gravity
gpu_index
gpu_pose_index
has_collision_shapes
hidden
initial_pose	The initial pose of this Actor, as defined when creating the actor via the ActorBuilder.
is_sleeping
linear_damping
linear_velocity
locked_motion_axes	list[bool]
mass
merged	Whether this object is a view of other actors as a result of Actor.merge
name
per_scene_id	Returns a int32 torch tensor of the actor level segmentation ID for each managed actor object.
pose
px	The physx system objects managed by this dataclass are working on
px_body_type
scene	The ManiSkillScene object that manages the sub-scenes this dataclasses's objects are in