mani_skill.utils.structs.Link

class mani_skill.utils.structs.Link(_objs: List[T], _scene_idxs: torch.Tensor, scene: ManiSkillScene, _bodies: List[physx.PhysxRigidBodyComponent], _body_data_name: str, _body_data_index_internal: slice = None, articulation: Articulation = None, name: str = None, joint: ArticulationJoint = None, meshes: Dict[str, List[trimesh.Trimesh]] = <factory>, merged: bool = False)

Wrapper around physx.PhysxArticulationLinkComponent objects

Methods

__init__(_objs, _scene_idxs, scene, _bodies, ...)
bbox(filter)
create(physx_links, scene, scene_idxs)
generate_mesh(filter, mesh_name)	Generates mesh objects (trimesh.Trimesh) for each managed physx link given a filter and saves them to self.meshes[mesh_name] in addition to returning them here.
get_angular_damping()
get_angular_velocity()
get_articulation()
get_auto_compute_mass()
get_cmass_local_pose()
get_disable_gravity()
get_index()
get_joint()
get_linear_damping()
get_linear_velocity()
get_mass()
get_name()
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_visual_meshes([to_world_frame, first_only])	Returns the visual mesh of each managed link object.
merge(links[, name])
set_angular_damping(damping)
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 :param group: the collision group to set the bit for.
set_disable_gravity(arg0)
set_linear_damping(damping)
set_mass(arg0)
set_pose(arg1)

Attributes

angular_damping
angular_velocity
articulation	the articulation that this link is a part of.
auto_compute_mass
cmass_local_pose
device
disable_gravity
index	The indexes of the managed link objects in their respective articulations.
is_root
joint	the joint of which this link is a child of.
linear_damping
linear_velocity
mass
merged	whether this link is result of Link.merge or not
name
per_scene_id	Returns a int32 torch tensor of the link level segmentation ID for each managed link object.
pose
px	The physx system objects managed by this dataclass are working on
render_shapes	Returns each managed link objects render shape list (a list of lists)
meshes	map from user-defined mesh groups (e.g.
scene	The ManiSkillScene object that manages the sub-scenes this dataclasses's objects are in