mani_skill.utils.structs.Articulation

class mani_skill.utils.structs.Articulation(_objs: List[T], _scene_idxs: torch.Tensor, scene: ManiSkillScene, links: List[Link], links_map: Dict[str, Link], root: Link, joints: List[ArticulationJoint], joints_map: Dict[str, ArticulationJoint], active_joints: List[ArticulationJoint], active_joints_map: Dict[str, ArticulationJoint], name: str = None, initial_pose: Pose = None, merged: bool = False, _cached_joint_target_indices: Dict[int, torch.Tensor] = <factory>, _net_contact_force_queries: Dict[Tuple, physx.PhysxGpuContactBodyImpulseQuery] = <factory>)

Wrapper around physx.PhysxArticulation objects

Methods

__init__(_objs, _scene_idxs, scene, links, ...)
compute_passive_force(*args, **kwargs)
create_from_physx_articulations(...[, ...])	Create a managed articulation object given a list of physx articulations.
create_pinocchio_model()
find_joint_by_name(arg0)
find_link_by_name(arg0)
get_active_joints()
get_collision_meshes([to_world_frame, ...])	Returns the collision mesh of each managed articulation object.
get_dof()
get_drive_targets()
get_drive_velocities()
get_first_collision_mesh([to_world_frame])	Returns the collision mesh of the first managed articulation object.
get_first_visual_mesh([to_world_frame])	Returns the visual mesh of the first managed articulation object.
get_joint_target_indices(joint_indices)
get_joints()
get_link_incoming_joint_forces()	Returns the incoming joint forces, referred to as spatial forces, for each link, with shape (N, M, 6), where N is the number of environments and M is the number of links.
get_links()
get_name()
get_net_contact_forces(link_names)	Get net contact forces for several links together.
get_net_contact_impulses(link_names)	Get net contact impulses for several links together.
get_pose()
get_qf()
get_qlimits()
get_qpos()
get_qvel()
get_root()
get_root_angular_velocity()
get_root_linear_velocity()
get_root_pose()
get_state()
get_visual_meshes([to_world_frame, first_only])	Returns the visual mesh of each managed articulation object.
merge(articulations[, name, merge_links])	Merge a list of articulations into a single articulation for easy access of data across multiple possibly different articulations.
set_joint_drive_targets(targets[, joints, ...])	Set drive targets on active joints.
set_joint_drive_velocity_targets(targets[, ...])	Set drive velocity targets on active joints.
set_pose(arg0)
set_qf(qf)
set_qpos(arg1)
set_qvel(qvel)
set_root_angular_velocity(velocity)
set_root_linear_velocity(velocity)
set_root_pose(pose)
set_state(state[, env_idx])

Attributes

device
dof
drive_targets	The current drive targets of the active joints.
drive_velocities	The current drive velocity targets of the active joints.
fixed_root_link	Returns a boolean tensor of whether the root link is fixed for each parallel articulation
initial_pose	The initial pose of this articulation
max_dof	the max DOF out of all managed objects.
merged	whether or not this articulation object is a merged articulation where it is managing many articulations with different dofs.
name	Name of this articulation
pose
px	The physx system objects managed by this dataclass are working on
qacc
qf
qlimits
qpos
qvel
root_angular_velocity
root_linear_velocity
root_pose
links	List of Link objects
links_map	Maps link name to the Link object
root	The root Link object
joints	List of Joint objects
joints_map	Maps joint name to the Joint object
active_joints	List of active Joint objects, referencing elements in self.joints
active_joints_map	Maps active joint name to the Joint object, referencing elements in self.joints
scene	The ManiSkillScene object that manages the sub-scenes this dataclasses's objects are in