AvatarEntity

class genesis.engine.entities.avatar_entity.avatar_entity.AvatarEntity(scene: Scene, solver: RigidSolver, material: Material, morph: Morph, surface: Surface, idx: int, idx_in_solver, link_start: int = 0, joint_start: int = 0, q_start=0, dof_start=0, geom_start=0, cell_start=0, vert_start=0, verts_state_start=0, face_start=0, edge_start=0, vgeom_start=0, vvert_start=0, vface_start=0, equality_start=0, visualize_contact: bool = False)

Bases: RigidEntity

add_link(name: str, pos, quat, inertial_pos, inertial_quat, inertial_i, inertial_mass: float, parent_idx: int, invweight: ndarray[Any, dtype[float64]]) → AvatarLink

Add a new link (AvatarLink) to the entity.

Parameters:

• name (str) – Name of the link.

• pos (array-like) – Position of the link in world or parent frame.

• quat (array-like) – Orientation (quaternion) of the link.

• inertial_pos (array-like) – Position of the inertial frame relative to the link.

• inertial_quat (array-like) – Orientation of the inertial frame.

• inertial_i (array-like) – Inertia tensor in the local frame.

• inertial_mass (float) – Mass of the link.

• parent_idx (int) – Index of the parent link in the kinematic tree.

• invweight (np array of 2 float elements) – Inverse weight for optimization or simulation purposes.

Returns:

link – The created AvatarLink instance.

Return type:

AvatarLink

add_joint(name: str, n_qs: int, n_dofs: int, type: str, pos, quat, dofs_motion_ang, dofs_motion_vel, dofs_limit, dofs_invweight, dofs_stiffness, dofs_damping, dofs_armature, dofs_kp, dofs_kv, dofs_force_range, init_q) → AvatarJoint

Add a new joint (AvatarJoint) to the entity.

Parameters:

• name (str) – Name of the joint.

• n_qs (int) – Number of configuration variables (generalized coordinates).

• n_dofs (int) – Number of degrees of freedom for the joint.

• type (str) – Type of the joint (e.g., “revolute”, “prismatic”).

• pos (array-like) – Position of the joint frame.

• quat (array-like) – Orientation (quaternion) of the joint frame.

• dofs_motion_ang (array-like) – Angular motions allowed for each DOF.

• dofs_motion_vel (array-like) – Velocity directions for each DOF.

• dofs_limit (array-like) – Limits for each DOF (e.g., min/max).

• dofs_invweight (array-like) – Inverse weight for each DOF.

• dofs_stiffness (array-like) – Stiffness values for each DOF.

• dofs_damping (array-like) – Damping values for each DOF.

• dofs_armature (array-like) – Armature inertia values.

• dofs_kp (array-like) – Proportional gains for control.

• dofs_kv (array-like) – Derivative gains for control.

• dofs_force_range (array-like) – Allowed force/torque range for each DOF.

• init_q (array-like) – Initial configuration (position/orientation) for the joint.

Returns:

joint – The created AvatarJoint instance.

Return type:

AvatarJoint

init_jac_and_IK() → None