mani_skill.utils.structs module#

Structs in ManiSkill are objects that efficiently wrap around raw SAPIEN objects and manage their data on the GPU in a user-friendly way so you don’t have to deal with complex memory management code. The APIs exposed here are the most commonly used structs that you will encounter when using ManiSkill.

Pose(raw_pose)

Wrapper around sapien.Pose that supports managing a batch of Poses and flexible creation of them from a variety of sources (list, numpy array, sapien.Pose).

Actor(_objs, _scene_idxs, scene, _bodies, ...)

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

Articulation(_objs, _scene_idxs, scene, ...)

Wrapper around physx.PhysxArticulation objects

Link(_objs, _scene_idxs, scene, _bodies, ...)

Wrapper around physx.PhysxArticulationLinkComponent objects

ArticulationJoint(_objs, _scene_idxs, scene, ...)

Wrapper around physx.PhysxArticulationJoint objects

SimConfig(spacing, sim_freq, control_freq, ...)

Simulation configurations for ManiSkill environments