gs.morphs.Cylinder#

gs.morphs.Cylinder 类表示一个圆柱体形状的变形选项。

class genesis.options.morphs.Cylinder(*args, 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, fixed: bool = False, height: float = 1.0, radius: float = 0.5)[源代码]#

Morph defined by a cylinder shape.

参数:

  • 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.

  • height (float, optional) – The height of the cylinder in meters. Defaults to 1.0.

  • radius (float, optional) – The radius of the cylinder in meters. Defaults to 0.5.

  • 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.

  • fixed (bool, optional) – Whether the baselink of the entity should be fixed. Defaults to False. This is only used for RigidEntity.