gs.morphs.Drone#

gs.morphs.Drone 是一个从URDF文件加载的形态类，用于创建无人机实体。

class genesis.options.morphs.Drone(*, pos: tuple = (0.0, 0.0, 0.0), euler: tuple | None = (0.0, 0.0, 0.0), quat: tuple | None = None, visualization: bool = True, collision: bool = True, requires_jac_and_IK: bool = False, file: Any = '', scale: float | tuple = 1.0, convexify: bool | None = None, recompute_inertia: bool = False, model: str = 'CF2X', fixed: bool = False, prioritize_urdf_material: bool = False, COM_link_name: str = 'center_of_mass_link', propellers_link_names: List[str] = ['prop0_link', 'prop1_link', 'prop2_link', 'prop3_link'], propellers_spin: List[int] = [-1, 1, -1, 1])[源代码]#

Morph loaded from a URDF file for creating a DroneEntity.

备注

Visual geom in the propeller links will be used for spinning animation.

参数:

  • file (str) – The path to the file.

  • scale (float or tuple, optional) – The scaling factor for the size of the entity. If a float, it scales uniformly. If a 3-tuple, it scales along each axis. Defaults to 1.0. Note that 3-tuple scaling is only supported for gs.morphs.Mesh.

  • pos (tuple, shape (3,), optional) – The position of the entity in meters. Defaults to (0.0, 0.0, 0.0).

  • euler (tuple, shape (3,), optional) – The euler angle of the entity in degrees. This follows scipy’s extrinsic x-y-z rotation convention. Defaults to (0.0, 0.0, 0.0).

  • quat (tuple, shape (4,), optional) – The quaternion (w-x-y-z convention) of the entity. If specified, euler will be ignored. Defaults to None.

  • convexify (bool, optional) – Whether to convexify the entity. When convexify is True, all the meshes in the entity will be converted to a convex hull. If not given, it defaults to True for RigidEntity and False for other deformable entities.

  • visualization (bool, optional) – Whether the entity needs to be visualized. Set it to False if you need a invisible object only for collision purposes. Defaults to True. visualization and collision cannot both be False.

  • collision (bool, optional) – NB: Drone doesn’t support collision checking for now.

  • fixed (bool, optional) – Whether the baselink of the entity should be fixed. Defaults to False.

  • prioritize_urdf_material (bool, optional) – Sometimes a geom in a urdf file will be assigned a color, and the geom asset file also contains its own visual material. This parameter controls whether to prioritize the URDF-defined material over the asset’s own material. Defaults to False.

  • model (str, optional) – The model of the drone. Defaults to ‘CF2X’. Supported models are ‘CF2X’, ‘CF2P’, and ‘RACE’.

  • COM_link_name (str, optional) – The name of the link that represents the center of mass. Defaults to ‘center_of_mass_link’.

  • propellers_link_names (list of str, optional) – The names of the links that represent the propellers. Defaults to [‘prop0_link’, ‘prop1_link’, ‘prop2_link’, ‘prop3_link’].

  • propellers_spin (list of int, optional) – The spin direction of the propellers. 1: CCW, -1: CW. Defaults to [-1, 1, -1, 1].