Rigid entity#
A RigidEntity is an articulated rigid body: a robot, mechanism, or rigid object simulated by the rigid solver. It is built from links connected by joints, each link carrying collision and visual geometry. These pages document the entity and its parts.
RigidEntityRigidEntityRigidEntity.get_jacobian()RigidEntity.inverse_kinematics()RigidEntity.inverse_kinematics_multilink()RigidEntity.forward_kinematics()RigidEntity.plan_path()RigidEntity.get_state()RigidEntity.get_AABB()RigidEntity.get_aabb()RigidEntity.get_links_pos()RigidEntity.get_links_vel()RigidEntity.get_links_acc()RigidEntity.get_links_acc_ang()RigidEntity.get_links_inertial_mass()RigidEntity.get_links_invweight()RigidEntity.set_pos()RigidEntity.set_pos_grad()RigidEntity.set_quat()RigidEntity.set_quat_grad()RigidEntity.get_verts()RigidEntity.set_qpos()RigidEntity.set_dofs_kp()RigidEntity.set_dofs_kv()RigidEntity.set_dofs_act_gain()RigidEntity.set_dofs_act_bias()RigidEntity.set_dofs_force_range()RigidEntity.set_dofs_stiffness()RigidEntity.set_dofs_invweight()RigidEntity.set_dofs_armature()RigidEntity.set_dofs_damping()RigidEntity.set_dofs_frictionloss()RigidEntity.set_dofs_velocity_grad()RigidEntity.set_dofs_position()RigidEntity.control_dofs_force()RigidEntity.control_dofs_velocity()RigidEntity.control_dofs_position()RigidEntity.control_dofs_position_velocity()RigidEntity.get_dofs_control_force()RigidEntity.get_dofs_force()RigidEntity.get_dofs_kp()RigidEntity.get_dofs_kv()RigidEntity.get_dofs_act_gain()RigidEntity.get_dofs_act_bias()RigidEntity.get_dofs_force_range()RigidEntity.get_dofs_stiffness()RigidEntity.get_dofs_invweight()RigidEntity.get_dofs_armature()RigidEntity.get_dofs_damping()RigidEntity.get_dofs_frictionloss()RigidEntity.get_mass_mat()RigidEntity.get_kinetic_energy()RigidEntity.get_potential_energy()RigidEntity.get_total_energy()RigidEntity.detect_collision()RigidEntity.get_contacts()RigidEntity.get_links_net_contact_force()RigidEntity.set_friction_ratio()RigidEntity.set_friction()RigidEntity.set_mass_shift()RigidEntity.set_COM_shift()RigidEntity.set_links_inertial_mass()RigidEntity.set_links_invweight()RigidEntity.set_mass()RigidEntity.get_mass()RigidEntity.visualize_contactRigidEntity.n_geomsRigidEntity.n_cellsRigidEntity.n_vertsRigidEntity.n_facesRigidEntity.n_edgesRigidEntity.geom_startRigidEntity.geom_endRigidEntity.cell_startRigidEntity.cell_endRigidEntity.gravity_compensationRigidEntity.vert_startRigidEntity.face_startRigidEntity.edge_startRigidEntity.geomsRigidEntity.n_equalitiesRigidEntity.equality_startRigidEntity.equality_endRigidEntity.equalitiesRigidEntity.is_freeRigidEntity.is_local_collision_mask
RigidLinkRigidLinkRigidLink.get_verts()RigidLink.get_AABB()RigidLink.set_mass()RigidLink.get_mass()RigidLink.set_friction()RigidLink.visualize_contactRigidLink.invweightRigidLink.inertial_posRigidLink.inertial_quatRigidLink.inertial_massRigidLink.inertial_iRigidLink.geomsRigidLink.n_geomsRigidLink.geom_startRigidLink.geom_endRigidLink.n_cellsRigidLink.n_vertsRigidLink.n_facesRigidLink.n_edgesRigidLink.is_free
RigidJointRigidJointRigidJoint.get_pos()RigidJoint.get_quat()RigidJoint.get_anchor_pos()RigidJoint.get_anchor_axis()RigidJoint.set_sol_params()RigidJoint.sol_paramsRigidJoint.uidRigidJoint.nameRigidJoint.entityRigidJoint.solverRigidJoint.linkRigidJoint.idxRigidJoint.idx_localRigidJoint.init_qposRigidJoint.n_qsRigidJoint.n_dofsRigidJoint.typeRigidJoint.posRigidJoint.quatRigidJoint.q_startRigidJoint.dof_startRigidJoint.q_endRigidJoint.dof_endRigidJoint.dofs_idxRigidJoint.dofs_idx_localRigidJoint.qs_idxRigidJoint.qs_idx_localRigidJoint.dofs_motion_angRigidJoint.dofs_motion_velRigidJoint.dofs_limitRigidJoint.dofs_invweightRigidJoint.dofs_lengthRigidJoint.dofs_frictionlossRigidJoint.dofs_stiffnessRigidJoint.dofs_dampingRigidJoint.dofs_armatureRigidJoint.dofs_act_gainRigidJoint.dofs_act_biasRigidJoint.dofs_force_rangeRigidJoint.is_built
RigidGeomRigidGeomRigidGeom.get_trimesh()RigidGeom.get_sdf_trimesh()RigidGeom.visualize_sdf()RigidGeom.set_friction()RigidGeom.get_pos()RigidGeom.get_quat()RigidGeom.get_verts()RigidGeom.get_AABB()RigidGeom.set_sol_params()RigidGeom.sol_paramsRigidGeom.uidRigidGeom.idxRigidGeom.typeRigidGeom.frictionRigidGeom.dataRigidGeom.metadataRigidGeom.linkRigidGeom.entityRigidGeom.solverRigidGeom.is_convexRigidGeom.meshRigidGeom.needs_coupRigidGeom.contypeRigidGeom.conaffinityRigidGeom.coup_softnessRigidGeom.coup_frictionRigidGeom.coup_restitutionRigidGeom.init_posRigidGeom.init_quatRigidGeom.init_vertsRigidGeom.init_facesRigidGeom.init_edgesRigidGeom.init_normalsRigidGeom.init_center_posRigidGeom.uvsRigidGeom.surfaceRigidGeom.gsd_pathRigidGeom.sdf_resRigidGeom.sdf_valRigidGeom.sdf_val_flattenedRigidGeom.sdf_gradRigidGeom.sdf_grad_flattenedRigidGeom.sdf_maxRigidGeom.sdf_cell_sizeRigidGeom.sdf_grad_deltaRigidGeom.sdf_closest_vertRigidGeom.sdf_closest_vert_flattenedRigidGeom.T_mesh_to_sdfRigidGeom.n_cellsRigidGeom.n_vertsRigidGeom.n_facesRigidGeom.n_edgesRigidGeom.cell_startRigidGeom.vert_startRigidGeom.face_startRigidGeom.edge_startRigidGeom.verts_state_startRigidGeom.cell_endRigidGeom.vert_endRigidGeom.verts_state_endRigidGeom.face_endRigidGeom.edge_endRigidGeom.is_builtRigidGeom.is_freeRigidGeom.is_fixed
RigidVisGeomRigidVisGeomRigidVisGeom.get_trimesh()RigidVisGeom.get_pos()RigidVisGeom.get_quat()RigidVisGeom.get_vAABB()RigidVisGeom.set_vverts()RigidVisGeom.get_vverts()RigidVisGeom.uidRigidVisGeom.idxRigidVisGeom.linkRigidVisGeom.entityRigidVisGeom.vmeshRigidVisGeom.solverRigidVisGeom.metadataRigidVisGeom.init_posRigidVisGeom.init_quatRigidVisGeom.init_vvertsRigidVisGeom.init_vfacesRigidVisGeom.init_vnormalsRigidVisGeom.uvsRigidVisGeom.surfaceRigidVisGeom.n_vvertsRigidVisGeom.n_vfacesRigidVisGeom.vvert_startRigidVisGeom.vface_startRigidVisGeom.vvert_endRigidVisGeom.vface_endRigidVisGeom.is_builtRigidVisGeom.is_freeRigidVisGeom.is_fixed