`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: 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)[source]#

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()[source]#: Get the vertices of the link’s collision body (concatenation of all link.geoms) in the world frame.

get_AABB()[source]#: 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, ...])[source]#

Set the mass of the link.

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

get_mass()[source]#: Get the mass of the link.

set_friction(friction)[source]#: 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: _Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes] | None#: The initial position of the link’s inertial frame.

property inertial_quat: _Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes] | None#: The initial quaternion of the link’s inertial frame.

property inertial_mass: float | None#: The initial mass of the link.

property inertial_i: _Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes] | 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#

RigidLink（刚体连杆）#

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`RigidLink`（刚体连杆）#