RigidLink（刚体连杆）

gs.RigidLink 是 Genesis 项目中的一个类，表示刚性链接。它继承自 RigidEntity 类，并包含以下成员：

class genesis.engine.entities.rigid_entity.rigid_link.RigidLink(entity, name, idx, geom_start, cell_start, vert_start, face_start, edge_start, vgeom_start, vvert_start, vface_start, pos, quat, inertial_pos, inertial_quat, inertial_i, inertial_mass, parent_idx, invweight, visualize_contact)

基类：RBC

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_pos(envs_idx=None)

Get the position of the link in the world frame.

参数:

envs_idx (int or array of int, optional) – The indices of the environments to get the position. If None, get the position of all environments. Default is None.

get_quat(envs_idx=None)

Get the quaternion of the link in the world frame.

参数:

envs_idx (int or array of int, optional) – The indices of the environments to get the quaternion. If None, get the quaternion of all environments. Default is None.

get_vel(envs_idx=None)

Get the linear velocity of the link in the world frame.

参数:

envs_idx (int or array of int, optional) – The indices of the environments to get the linear velocity. If None, get the linear velocity of all environments. Default is None.

get_ang(envs_idx=None)

Get the angular velocity of the link in the world frame.

参数:

envs_idx (int or array of int, optional) – The indices of the environments to get the angular velocity. If None, get the angular velocity of all environments. Default is None.

get_verts()

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

get_vverts()

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

get_AABB()

Get the axis-aligned bounding box (AABB) of the link’s collision body (concatenation of all link.geoms) in the world frame.

get_vAABB()

Get the axis-aligned bounding box (AABB) of the link’s visual body (concatenation of all link.vgeoms) in the world frame.

set_mass(mass)

Set the mass of the link.

get_mass()

Get the mass of the link.

set_friction(friction)

Set the friction of all the link’s geoms.

property uid

The unique ID of the link.

property name

The name of the link.

property entity

The entity that the link belongs to.

property solver

The solver that the link belongs to.

property visualize_contact

Whether to visualize the contact of the link.

property joint

The joint that connects the link to its parent link.

property idx

The global index of the link in the RigidSolver.

property parent_idx

The global index of the link’s parent link in the RigidSolver. If the link is the root link, return -1.

property child_idxs

The global indices of the link’s child links in the RigidSolver.

property idx_local

The local index of the link in the entity.

property parent_idx_local

The local index of the link’s parent link in the entity. If the link is the root link, return -1.

property child_idxs_local

The local indices of the link’s child links in the entity.

property is_leaf

Whether the link is a leaf link (i.e., has no child links).

property invweight

The invweight of the link.

property pos

The initial position of the link. For real-time position, use link.get_pos().

property quat

The initial quaternion of the link. For real-time quaternion, use link.get_quat().

property inertial_pos

The initial position of the link’s inertial frame.

property inertial_quat

The initial quaternion of the link’s inertial frame.

property inertial_mass

The initial mass of the link.

property inertial_i

The inerial matrix of the link.

property geoms

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

property vgeoms

The list of the link’s visualization geometries (RigidVisGeom).

property n_geoms

Number of the link’s collision geometries.

property geom_start

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

property geom_end

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

property n_vgeoms

Number of the link’s visualization geometries (vgeom).

property vgeom_start

The start index of the link’s vgeom in the RigidSolver.

property vgeom_end

The end index of the link’s vgeom in the RigidSolver.

property n_cells

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

property n_verts

Number of vertices of all the link’s geoms.

property n_vverts

Number of vertices of all the link’s vgeoms.

property n_faces

Number of faces of all the link’s geoms.

property n_vfaces

Number of faces of all the link’s vgeoms.

property n_edges

Number of edges of all the link’s geoms.

property is_built

Whether the entity the link belongs to is built.