RigidLink

class genesis.engine.entities.rigid_entity.rigid_link.RigidLink(entity: RigidEntity, name: str, idx: int, joint_start: int, n_joints: int, geom_start: int, cell_start: int, vert_start: int, face_start: int, edge_start: int, free_verts_state_start: int, fixed_verts_state_start: int, vgeom_start: int, vvert_start: int, vface_start: int, pos: np.typing.ArrayLike, quat: np.typing.ArrayLike, inertial_pos: np.typing.ArrayLike | None, inertial_quat: np.typing.ArrayLike | None, inertial_i: np.typing.ArrayLike | None, inertial_mass: float | None, parent_idx: int, root_idx: int | None, invweight: float | None, visualize_contact: bool, is_robot: bool, aligned: bool = False)

Bases: KinematicLink

RigidLink class. One RigidEntity consists of multiple RigidLinks, each of which is a rigid body and could consist of multiple RigidGeoms (link.geoms, for collision) and RigidVisGeoms (link.vgeoms for visualization).

get_verts()

Get the vertices of the link’s collision body (concatenation of all link.geoms) in the world frame.

get_AABB()

Get the vertex-based axis-aligned bounding box (AABB) of the link’s collision body in the world frame by aggregating all the collision geometries associated with this link (link.geoms).

set_mass(mass: tuple[float, ...])

Set the mass of the link.

Parameters:

mass (float | array_like, shape (n_envs,)) – The mass to set.

get_mass()

Get the mass of the link.

set_friction(friction)

Set the friction of all the link’s geoms.

property visualize_contact: bool

Whether to visualize the contact of the link.

property invweight

The invweight of the link.

property inertial_pos: ArrayLike | None

The initial position of the link’s inertial frame.

property inertial_quat: ArrayLike | None

The initial quaternion of the link’s inertial frame.

property inertial_mass: float | None

The initial mass of the link.

property inertial_i: ArrayLike | None

The inerial matrix of the link.

property geoms: list[genesis.engine.entities.rigid_entity.rigid_geom.RigidGeom]

The list of the link’s collision geometries (RigidGeom).

property n_geoms: int

Number of the link’s collision geometries.

property geom_start: int

The start index of the link’s collision geometries in the RigidSolver.

property geom_end: int

The end index of the link’s collision geometries in the RigidSolver.

property n_cells

Number of sdf cells of all the link’s geoms.

property n_verts: int

Number of vertices of all the link’s geoms.

property n_faces: int

Number of faces of all the link’s geoms.

property n_edges: int

Number of edges of all the link’s geoms.

property is_free