mani_skill.utils.structs.ArticulationJoint

class mani_skill.utils.structs.ArticulationJoint(_objs: List[T], _scene_idxs: torch.Tensor, scene: ManiSkillScene, index: torch.Tensor, active_index: torch.Tensor, articulation: Articulation | None = None, child_link: Link | None = None, parent_link: Link | None = None, name: str = None, _physx_articulations: List[physx.PhysxArticulation] = None)

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

Methods

__init__(_objs, _scene_idxs, scene, index, ...)
create(physx_joints, physx_articulations, ...)	Creates an object for managing articulation joints in articulations
get_child_link()
get_damping()
get_dof()
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()
get_type()
set_drive_properties(stiffness, damping[, ...])
set_drive_target(target)
set_drive_velocity_target(velocity)
set_friction(friction)
set_limits(limits)

Attributes

articulation
child_link
damping
device
dof
drive_mode	typing.Literal['force', 'acceleration']
drive_target
drive_velocity_target
force_limit
friction
global_pose
limits
name
parent_link
pose_in_child
pose_in_parent
px	The physx system objects managed by this dataclass are working on
qpos	The qpos of this joint in the articulation
qvel	The qvel of this joint in the articulation
stiffness
type
index	index of this joint among all joints
active_index	index of this joint amongst the active joints
scene	The ManiSkillScene object that manages the sub-scenes this dataclasses's objects are in