gs.morphs.FileMorph#

gs.morphs.FileMorph 是 Genesis 项目中的一个类，用于处理文件变形操作。

class genesis.options.morphs.FileMorph(*, 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)[源代码]#

Morph loaded from a file.

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 each 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. This is only used for RigidEntity.

  • collision (bool, optional) – Whether the entity needs to be considered for collision checking. Defaults to True. visualization and collision cannot both be False. This is only used for RigidEntity.

  • requires_jac_and_IK (bool, optional) – Whether this morph, if created as RigidEntity, requires jacobian and inverse kinematics. Defaults to False. This is only used for RigidEntity.