pysapien

Subpackages

• physx
  • Module contents
    • PhysxArticulation
      • PhysxArticulation.active_joints
      • PhysxArticulation.clone_links()
      • PhysxArticulation.compute_passive_force()
      • PhysxArticulation.create_fixed_tendon()
      • PhysxArticulation.create_pinocchio_model()
      • PhysxArticulation.dof
      • PhysxArticulation.find_joint_by_name()
      • PhysxArticulation.find_link_by_name()
      • PhysxArticulation.get_active_joints()
      • PhysxArticulation.get_dof()
      • PhysxArticulation.get_gpu_index()
      • PhysxArticulation.get_joints()
      • PhysxArticulation.get_links()
      • PhysxArticulation.get_name()
      • PhysxArticulation.get_pose()
      • PhysxArticulation.get_qacc()
      • PhysxArticulation.get_qf()
      • PhysxArticulation.get_qlimit()
      • PhysxArticulation.get_qlimits()
      • PhysxArticulation.get_qpos()
      • PhysxArticulation.get_qvel()
      • PhysxArticulation.get_root()
      • PhysxArticulation.get_root_angular_velocity()
      • PhysxArticulation.get_root_linear_velocity()
      • PhysxArticulation.get_root_pose()
      • PhysxArticulation.get_sleep_threshold()
      • PhysxArticulation.get_solver_position_iterations()
      • PhysxArticulation.get_solver_velocity_iterations()
      • PhysxArticulation.gpu_index
      • PhysxArticulation.joints
      • PhysxArticulation.links
      • PhysxArticulation.name
      • PhysxArticulation.pose
      • PhysxArticulation.qacc
      • PhysxArticulation.qf
      • PhysxArticulation.qlimit
      • PhysxArticulation.qlimits
      • PhysxArticulation.qpos
      • PhysxArticulation.qvel
      • PhysxArticulation.root
      • PhysxArticulation.root_angular_velocity
      • PhysxArticulation.root_linear_velocity
      • PhysxArticulation.root_pose
      • PhysxArticulation.set_name()
      • PhysxArticulation.set_pose()
      • PhysxArticulation.set_qacc()
      • PhysxArticulation.set_qf()
      • PhysxArticulation.set_qpos()
      • PhysxArticulation.set_qvel()
      • PhysxArticulation.set_root_angular_velocity()
      • PhysxArticulation.set_root_linear_velocity()
      • PhysxArticulation.set_root_pose()
      • PhysxArticulation.set_sleep_threshold()
      • PhysxArticulation.set_solver_position_iterations()
      • PhysxArticulation.set_solver_velocity_iterations()
      • PhysxArticulation.sleep_threshold
      • PhysxArticulation.solver_position_iterations
      • PhysxArticulation.solver_velocity_iterations
    • PhysxArticulationJoint
      • PhysxArticulationJoint.armature
      • PhysxArticulationJoint.child_link
      • PhysxArticulationJoint.damping
      • PhysxArticulationJoint.dof
      • PhysxArticulationJoint.drive_mode
      • PhysxArticulationJoint.drive_target
      • PhysxArticulationJoint.drive_velocity_target
      • PhysxArticulationJoint.force_limit
      • PhysxArticulationJoint.friction
      • PhysxArticulationJoint.get_armature()
      • PhysxArticulationJoint.get_child_link()
      • PhysxArticulationJoint.get_damping()
      • PhysxArticulationJoint.get_dof()
      • PhysxArticulationJoint.get_drive_mode()
      • PhysxArticulationJoint.get_drive_target()
      • PhysxArticulationJoint.get_drive_velocity_target()
      • PhysxArticulationJoint.get_force_limit()
      • PhysxArticulationJoint.get_friction()
      • PhysxArticulationJoint.get_global_pose()
      • PhysxArticulationJoint.get_limit()
      • PhysxArticulationJoint.get_limits()
      • PhysxArticulationJoint.get_name()
      • PhysxArticulationJoint.get_parent_link()
      • PhysxArticulationJoint.get_pose_in_child()
      • PhysxArticulationJoint.get_pose_in_parent()
      • PhysxArticulationJoint.get_stiffness()
      • PhysxArticulationJoint.get_type()
      • PhysxArticulationJoint.global_pose
      • PhysxArticulationJoint.limit
      • PhysxArticulationJoint.limits
      • PhysxArticulationJoint.name
      • PhysxArticulationJoint.parent_link
      • PhysxArticulationJoint.pose_in_child
      • PhysxArticulationJoint.pose_in_parent
      • PhysxArticulationJoint.set_armature()
      • PhysxArticulationJoint.set_drive_properties()
      • PhysxArticulationJoint.set_drive_property()
      • PhysxArticulationJoint.set_drive_target()
      • PhysxArticulationJoint.set_drive_velocity_target()
      • PhysxArticulationJoint.set_friction()
      • PhysxArticulationJoint.set_limit()
      • PhysxArticulationJoint.set_limits()
      • PhysxArticulationJoint.set_name()
      • PhysxArticulationJoint.set_pose_in_child()
      • PhysxArticulationJoint.set_pose_in_parent()
      • PhysxArticulationJoint.set_type()
      • PhysxArticulationJoint.stiffness
      • PhysxArticulationJoint.type
    • PhysxArticulationLinkComponent
      • PhysxArticulationLinkComponent.articulation
      • PhysxArticulationLinkComponent.children
      • PhysxArticulationLinkComponent.get_articulation()
      • PhysxArticulationLinkComponent.get_children()
      • PhysxArticulationLinkComponent.get_gpu_pose_index()
      • PhysxArticulationLinkComponent.get_index()
      • PhysxArticulationLinkComponent.get_joint()
      • PhysxArticulationLinkComponent.get_parent()
      • PhysxArticulationLinkComponent.gpu_pose_index
      • PhysxArticulationLinkComponent.index
      • PhysxArticulationLinkComponent.is_root
      • PhysxArticulationLinkComponent.joint
      • PhysxArticulationLinkComponent.parent
      • PhysxArticulationLinkComponent.put_to_sleep()
      • PhysxArticulationLinkComponent.set_parent()
      • PhysxArticulationLinkComponent.sleeping
      • PhysxArticulationLinkComponent.wake_up()
    • PhysxBaseComponent
    • PhysxBodyConfig
      • PhysxBodyConfig.sleep_threshold
      • PhysxBodyConfig.solver_position_iterations
      • PhysxBodyConfig.solver_velocity_iterations
    • PhysxCollisionShape
      • PhysxCollisionShape.collision_groups
      • PhysxCollisionShape.contact_offset
      • PhysxCollisionShape.density
      • PhysxCollisionShape.get_collision_groups()
      • PhysxCollisionShape.get_contact_offset()
      • PhysxCollisionShape.get_density()
      • PhysxCollisionShape.get_local_pose()
      • PhysxCollisionShape.get_min_patch_radius()
      • PhysxCollisionShape.get_patch_radius()
      • PhysxCollisionShape.get_physical_material()
      • PhysxCollisionShape.get_rest_offset()
      • PhysxCollisionShape.local_pose
      • PhysxCollisionShape.min_patch_radius
      • PhysxCollisionShape.patch_radius
      • PhysxCollisionShape.physical_material
      • PhysxCollisionShape.rest_offset
      • PhysxCollisionShape.set_collision_groups()
      • PhysxCollisionShape.set_contact_offset()
      • PhysxCollisionShape.set_density()
      • PhysxCollisionShape.set_local_pose()
      • PhysxCollisionShape.set_min_patch_radius()
      • PhysxCollisionShape.set_patch_radius()
      • PhysxCollisionShape.set_physical_material()
      • PhysxCollisionShape.set_rest_offset()
    • PhysxCollisionShapeBox
      • PhysxCollisionShapeBox.get_half_size()
      • PhysxCollisionShapeBox.half_size
    • PhysxCollisionShapeCapsule
      • PhysxCollisionShapeCapsule.get_half_length()
      • PhysxCollisionShapeCapsule.get_radius()
      • PhysxCollisionShapeCapsule.half_length
      • PhysxCollisionShapeCapsule.radius
    • PhysxCollisionShapeConvexMesh
      • PhysxCollisionShapeConvexMesh.get_scale()
      • PhysxCollisionShapeConvexMesh.get_triangles()
      • PhysxCollisionShapeConvexMesh.get_vertices()
      • PhysxCollisionShapeConvexMesh.load_multiple()
      • PhysxCollisionShapeConvexMesh.scale
      • PhysxCollisionShapeConvexMesh.triangles
      • PhysxCollisionShapeConvexMesh.vertices
    • PhysxCollisionShapeCylinder
      • PhysxCollisionShapeCylinder.get_half_length()
      • PhysxCollisionShapeCylinder.get_radius()
      • PhysxCollisionShapeCylinder.half_length
      • PhysxCollisionShapeCylinder.radius
    • PhysxCollisionShapePlane
    • PhysxCollisionShapeSphere
      • PhysxCollisionShapeSphere.get_radius()
      • PhysxCollisionShapeSphere.radius
    • PhysxCollisionShapeTriangleMesh
      • PhysxCollisionShapeTriangleMesh.get_scale()
      • PhysxCollisionShapeTriangleMesh.get_triangles()
      • PhysxCollisionShapeTriangleMesh.get_vertices()
      • PhysxCollisionShapeTriangleMesh.scale
      • PhysxCollisionShapeTriangleMesh.triangles
      • PhysxCollisionShapeTriangleMesh.vertices
    • PhysxContact
      • PhysxContact.bodies
      • PhysxContact.points
      • PhysxContact.shapes
    • PhysxContactPoint
      • PhysxContactPoint.impulse
      • PhysxContactPoint.normal
      • PhysxContactPoint.position
      • PhysxContactPoint.separation
    • PhysxCpuSystem
      • PhysxCpuSystem.get_contacts()
      • PhysxCpuSystem.pack()
      • PhysxCpuSystem.raycast()
      • PhysxCpuSystem.unpack()
    • PhysxDistanceJointComponent
      • PhysxDistanceJointComponent.distance
      • PhysxDistanceJointComponent.get_distance()
      • PhysxDistanceJointComponent.set_limit()
    • PhysxDriveComponent
      • PhysxDriveComponent.drive_target
      • PhysxDriveComponent.get_drive_property_slerp()
      • PhysxDriveComponent.get_drive_property_swing()
      • PhysxDriveComponent.get_drive_property_twist()
      • PhysxDriveComponent.get_drive_property_x()
      • PhysxDriveComponent.get_drive_property_y()
      • PhysxDriveComponent.get_drive_property_z()
      • PhysxDriveComponent.get_drive_target()
      • PhysxDriveComponent.get_drive_velocity_target()
      • PhysxDriveComponent.get_limit_cone()
      • PhysxDriveComponent.get_limit_pyramid()
      • PhysxDriveComponent.get_limit_twist()
      • PhysxDriveComponent.get_limit_x()
      • PhysxDriveComponent.get_limit_y()
      • PhysxDriveComponent.get_limit_z()
      • PhysxDriveComponent.set_drive_property_slerp()
      • PhysxDriveComponent.set_drive_property_swing()
      • PhysxDriveComponent.set_drive_property_twist()
      • PhysxDriveComponent.set_drive_property_x()
      • PhysxDriveComponent.set_drive_property_y()
      • PhysxDriveComponent.set_drive_property_z()
      • PhysxDriveComponent.set_drive_target()
      • PhysxDriveComponent.set_drive_velocity_target()
      • PhysxDriveComponent.set_limit_cone()
      • PhysxDriveComponent.set_limit_pyramid()
      • PhysxDriveComponent.set_limit_twist()
      • PhysxDriveComponent.set_limit_x()
      • PhysxDriveComponent.set_limit_y()
      • PhysxDriveComponent.set_limit_z()
    • PhysxEngine
    • PhysxGearComponent
      • PhysxGearComponent.enable_hinges()
      • PhysxGearComponent.gear_ratio
      • PhysxGearComponent.get_gear_ratio()
      • PhysxGearComponent.is_hinges_enabled
      • PhysxGearComponent.set_gear_ratio()
    • PhysxGpuContactBodyImpulseQuery
      • PhysxGpuContactBodyImpulseQuery.cuda_impulses
    • PhysxGpuContactPairImpulseQuery
      • PhysxGpuContactPairImpulseQuery.cuda_impulses
    • PhysxGpuSystem
      • PhysxGpuSystem.cuda_articulation_link_data
      • PhysxGpuSystem.cuda_articulation_qacc
      • PhysxGpuSystem.cuda_articulation_qf
      • PhysxGpuSystem.cuda_articulation_qpos
      • PhysxGpuSystem.cuda_articulation_qvel
      • PhysxGpuSystem.cuda_articulation_target_qpos
      • PhysxGpuSystem.cuda_articulation_target_qvel
      • PhysxGpuSystem.cuda_rigid_body_data
      • PhysxGpuSystem.cuda_rigid_dynamic_data
      • PhysxGpuSystem.device
      • PhysxGpuSystem.get_scene_offset()
      • PhysxGpuSystem.gpu_apply_articulation_qf()
      • PhysxGpuSystem.gpu_apply_articulation_qpos()
      • PhysxGpuSystem.gpu_apply_articulation_qvel()
      • PhysxGpuSystem.gpu_apply_articulation_root_pose()
      • PhysxGpuSystem.gpu_apply_articulation_root_velocity()
      • PhysxGpuSystem.gpu_apply_articulation_target_position()
      • PhysxGpuSystem.gpu_apply_articulation_target_velocity()
      • PhysxGpuSystem.gpu_apply_rigid_dynamic_data()
      • PhysxGpuSystem.gpu_create_contact_body_impulse_query()
      • PhysxGpuSystem.gpu_create_contact_pair_impulse_query()
      • PhysxGpuSystem.gpu_fetch_articulation_link_pose()
      • PhysxGpuSystem.gpu_fetch_articulation_link_velocity()
      • PhysxGpuSystem.gpu_fetch_articulation_qacc()
      • PhysxGpuSystem.gpu_fetch_articulation_qpos()
      • PhysxGpuSystem.gpu_fetch_articulation_qvel()
      • PhysxGpuSystem.gpu_fetch_articulation_target_qpos()
      • PhysxGpuSystem.gpu_fetch_articulation_target_qvel()
      • PhysxGpuSystem.gpu_fetch_rigid_dynamic_data()
      • PhysxGpuSystem.gpu_init()
      • PhysxGpuSystem.gpu_query_contact_body_impulses()
      • PhysxGpuSystem.gpu_query_contact_pair_impulses()
      • PhysxGpuSystem.gpu_set_cuda_stream()
      • PhysxGpuSystem.gpu_update_articulation_kinematics()
      • PhysxGpuSystem.set_scene_offset()
      • PhysxGpuSystem.step_finish()
      • PhysxGpuSystem.step_start()
      • PhysxGpuSystem.sync_poses_gpu_to_cpu()
    • PhysxJointComponent
      • PhysxJointComponent.get_parent()
      • PhysxJointComponent.get_pose_in_child()
      • PhysxJointComponent.get_pose_in_parent()
      • PhysxJointComponent.get_relative_pose()
      • PhysxJointComponent.parent
      • PhysxJointComponent.pose_in_child
      • PhysxJointComponent.pose_in_parent
      • PhysxJointComponent.relative_pose
      • PhysxJointComponent.set_inv_inertia_scales()
      • PhysxJointComponent.set_inv_mass_scales()
      • PhysxJointComponent.set_parent()
      • PhysxJointComponent.set_pose_in_child()
      • PhysxJointComponent.set_pose_in_parent()
    • PhysxMaterial
      • PhysxMaterial.dynamic_friction
      • PhysxMaterial.get_dynamic_friction()
      • PhysxMaterial.get_restitution()
      • PhysxMaterial.get_static_friction()
      • PhysxMaterial.restitution
      • PhysxMaterial.set_dynamic_friction()
      • PhysxMaterial.set_restitution()
      • PhysxMaterial.set_static_friction()
      • PhysxMaterial.static_friction
    • PhysxRayHit
      • PhysxRayHit.component
      • PhysxRayHit.distance
      • PhysxRayHit.normal
      • PhysxRayHit.position
      • PhysxRayHit.shape
    • PhysxRigidBaseComponent
      • PhysxRigidBaseComponent.attach()
      • PhysxRigidBaseComponent.collision_shapes
      • PhysxRigidBaseComponent.compute_global_aabb_tight()
      • PhysxRigidBaseComponent.get_collision_shapes()
      • PhysxRigidBaseComponent.get_global_aabb_fast()
    • PhysxRigidBodyComponent
      • PhysxRigidBodyComponent.add_force_at_point()
      • PhysxRigidBodyComponent.add_force_torque()
      • PhysxRigidBodyComponent.angular_damping
      • PhysxRigidBodyComponent.angular_velocity
      • PhysxRigidBodyComponent.auto_compute_mass
      • PhysxRigidBodyComponent.cmass_local_pose
      • PhysxRigidBodyComponent.disable_gravity
      • PhysxRigidBodyComponent.get_angular_damping()
      • PhysxRigidBodyComponent.get_angular_velocity()
      • PhysxRigidBodyComponent.get_auto_compute_mass()
      • PhysxRigidBodyComponent.get_cmass_local_pose()
      • PhysxRigidBodyComponent.get_disable_gravity()
      • PhysxRigidBodyComponent.get_inertia()
      • PhysxRigidBodyComponent.get_linear_damping()
      • PhysxRigidBodyComponent.get_linear_velocity()
      • PhysxRigidBodyComponent.get_mass()
      • PhysxRigidBodyComponent.get_max_contact_impulse()
      • PhysxRigidBodyComponent.get_max_depenetration_velocity()
      • PhysxRigidBodyComponent.inertia
      • PhysxRigidBodyComponent.linear_damping
      • PhysxRigidBodyComponent.linear_velocity
      • PhysxRigidBodyComponent.mass
      • PhysxRigidBodyComponent.max_contact_impulse
      • PhysxRigidBodyComponent.max_depenetration_velocity
      • PhysxRigidBodyComponent.set_angular_damping()
      • PhysxRigidBodyComponent.set_cmass_local_pose()
      • PhysxRigidBodyComponent.set_disable_gravity()
      • PhysxRigidBodyComponent.set_inertia()
      • PhysxRigidBodyComponent.set_linear_damping()
      • PhysxRigidBodyComponent.set_mass()
      • PhysxRigidBodyComponent.set_max_contact_impulse()
      • PhysxRigidBodyComponent.set_max_depenetration_velocity()
    • PhysxRigidDynamicComponent
      • PhysxRigidDynamicComponent.angular_velocity
      • PhysxRigidDynamicComponent.get_angular_velocity()
      • PhysxRigidDynamicComponent.get_gpu_index()
      • PhysxRigidDynamicComponent.get_gpu_pose_index()
      • PhysxRigidDynamicComponent.get_kinematic()
      • PhysxRigidDynamicComponent.get_kinematic_target()
      • PhysxRigidDynamicComponent.get_linear_velocity()
      • PhysxRigidDynamicComponent.get_locked_motion_axes()
      • PhysxRigidDynamicComponent.get_sleep_threshold()
      • PhysxRigidDynamicComponent.get_solver_position_iterations()
      • PhysxRigidDynamicComponent.get_solver_velocity_iterations()
      • PhysxRigidDynamicComponent.gpu_index
      • PhysxRigidDynamicComponent.gpu_pose_index
      • PhysxRigidDynamicComponent.is_sleeping
      • PhysxRigidDynamicComponent.kinematic
      • PhysxRigidDynamicComponent.kinematic_target
      • PhysxRigidDynamicComponent.linear_velocity
      • PhysxRigidDynamicComponent.locked_motion_axes
      • PhysxRigidDynamicComponent.put_to_sleep()
      • PhysxRigidDynamicComponent.set_angular_velocity()
      • PhysxRigidDynamicComponent.set_kinematic()
      • PhysxRigidDynamicComponent.set_kinematic_target()
      • PhysxRigidDynamicComponent.set_linear_velocity()
      • PhysxRigidDynamicComponent.set_locked_motion_axes()
      • PhysxRigidDynamicComponent.set_sleep_threshold()
      • PhysxRigidDynamicComponent.set_solver_position_iterations()
      • PhysxRigidDynamicComponent.set_solver_velocity_iterations()
      • PhysxRigidDynamicComponent.sleep_threshold
      • PhysxRigidDynamicComponent.solver_position_iterations
      • PhysxRigidDynamicComponent.solver_velocity_iterations
      • PhysxRigidDynamicComponent.wake_up()
    • PhysxRigidStaticComponent
    • PhysxSceneConfig
      • PhysxSceneConfig.bounce_threshold
      • PhysxSceneConfig.enable_ccd
      • PhysxSceneConfig.enable_enhanced_determinism
      • PhysxSceneConfig.enable_friction_every_iteration
      • PhysxSceneConfig.enable_pcm
      • PhysxSceneConfig.enable_tgs
      • PhysxSceneConfig.gravity
    • PhysxShapeConfig
      • PhysxShapeConfig.contact_offset
      • PhysxShapeConfig.rest_offset
    • PhysxSystem
      • PhysxSystem.articulation_link_components
      • PhysxSystem.config
      • PhysxSystem.get_articulation_link_components()
      • PhysxSystem.get_config()
      • PhysxSystem.get_rigid_dynamic_components()
      • PhysxSystem.get_rigid_static_components()
      • PhysxSystem.get_scene_collision_id()
      • PhysxSystem.get_timestep()
      • PhysxSystem.rigid_dynamic_components
      • PhysxSystem.rigid_static_components
      • PhysxSystem.scene_collision_id
      • PhysxSystem.set_scene_collision_id()
      • PhysxSystem.set_timestep()
      • PhysxSystem.timestep
    • get_body_config()
    • get_default_material()
    • get_scene_config()
    • get_shape_config()
    • is_gpu_enabled()
    • set_body_config()
    • set_default_material()
    • set_gpu_memory_config()
    • set_scene_config()
    • set_shape_config()
    • version()
• render
  • Module contents
    • PhysxArticulation
      • PhysxArticulation.active_joints
      • PhysxArticulation.clone_links()
      • PhysxArticulation.compute_passive_force()
      • PhysxArticulation.create_fixed_tendon()
      • PhysxArticulation.create_pinocchio_model()
      • PhysxArticulation.dof
      • PhysxArticulation.find_joint_by_name()
      • PhysxArticulation.find_link_by_name()
      • PhysxArticulation.get_active_joints()
      • PhysxArticulation.get_dof()
      • PhysxArticulation.get_gpu_index()
      • PhysxArticulation.get_joints()
      • PhysxArticulation.get_links()
      • PhysxArticulation.get_name()
      • PhysxArticulation.get_pose()
      • PhysxArticulation.get_qacc()
      • PhysxArticulation.get_qf()
      • PhysxArticulation.get_qlimit()
      • PhysxArticulation.get_qlimits()
      • PhysxArticulation.get_qpos()
      • PhysxArticulation.get_qvel()
      • PhysxArticulation.get_root()
      • PhysxArticulation.get_root_angular_velocity()
      • PhysxArticulation.get_root_linear_velocity()
      • PhysxArticulation.get_root_pose()
      • PhysxArticulation.get_sleep_threshold()
      • PhysxArticulation.get_solver_position_iterations()
      • PhysxArticulation.get_solver_velocity_iterations()
      • PhysxArticulation.gpu_index
      • PhysxArticulation.joints
      • PhysxArticulation.links
      • PhysxArticulation.name
      • PhysxArticulation.pose
      • PhysxArticulation.qacc
      • PhysxArticulation.qf
      • PhysxArticulation.qlimit
      • PhysxArticulation.qlimits
      • PhysxArticulation.qpos
      • PhysxArticulation.qvel
      • PhysxArticulation.root
      • PhysxArticulation.root_angular_velocity
      • PhysxArticulation.root_linear_velocity
      • PhysxArticulation.root_pose
      • PhysxArticulation.set_name()
      • PhysxArticulation.set_pose()
      • PhysxArticulation.set_qacc()
      • PhysxArticulation.set_qf()
      • PhysxArticulation.set_qpos()
      • PhysxArticulation.set_qvel()
      • PhysxArticulation.set_root_angular_velocity()
      • PhysxArticulation.set_root_linear_velocity()
      • PhysxArticulation.set_root_pose()
      • PhysxArticulation.set_sleep_threshold()
      • PhysxArticulation.set_solver_position_iterations()
      • PhysxArticulation.set_solver_velocity_iterations()
      • PhysxArticulation.sleep_threshold
      • PhysxArticulation.solver_position_iterations
      • PhysxArticulation.solver_velocity_iterations
    • PhysxArticulationJoint
      • PhysxArticulationJoint.armature
      • PhysxArticulationJoint.child_link
      • PhysxArticulationJoint.damping
      • PhysxArticulationJoint.dof
      • PhysxArticulationJoint.drive_mode
      • PhysxArticulationJoint.drive_target
      • PhysxArticulationJoint.drive_velocity_target
      • PhysxArticulationJoint.force_limit
      • PhysxArticulationJoint.friction
      • PhysxArticulationJoint.get_armature()
      • PhysxArticulationJoint.get_child_link()
      • PhysxArticulationJoint.get_damping()
      • PhysxArticulationJoint.get_dof()
      • PhysxArticulationJoint.get_drive_mode()
      • PhysxArticulationJoint.get_drive_target()
      • PhysxArticulationJoint.get_drive_velocity_target()
      • PhysxArticulationJoint.get_force_limit()
      • PhysxArticulationJoint.get_friction()
      • PhysxArticulationJoint.get_global_pose()
      • PhysxArticulationJoint.get_limit()
      • PhysxArticulationJoint.get_limits()
      • PhysxArticulationJoint.get_name()
      • PhysxArticulationJoint.get_parent_link()
      • PhysxArticulationJoint.get_pose_in_child()
      • PhysxArticulationJoint.get_pose_in_parent()
      • PhysxArticulationJoint.get_stiffness()
      • PhysxArticulationJoint.get_type()
      • PhysxArticulationJoint.global_pose
      • PhysxArticulationJoint.limit
      • PhysxArticulationJoint.limits
      • PhysxArticulationJoint.name
      • PhysxArticulationJoint.parent_link
      • PhysxArticulationJoint.pose_in_child
      • PhysxArticulationJoint.pose_in_parent
      • PhysxArticulationJoint.set_armature()
      • PhysxArticulationJoint.set_drive_properties()
      • PhysxArticulationJoint.set_drive_property()
      • PhysxArticulationJoint.set_drive_target()
      • PhysxArticulationJoint.set_drive_velocity_target()
      • PhysxArticulationJoint.set_friction()
      • PhysxArticulationJoint.set_limit()
      • PhysxArticulationJoint.set_limits()
      • PhysxArticulationJoint.set_name()
      • PhysxArticulationJoint.set_pose_in_child()
      • PhysxArticulationJoint.set_pose_in_parent()
      • PhysxArticulationJoint.set_type()
      • PhysxArticulationJoint.stiffness
      • PhysxArticulationJoint.type
    • PhysxArticulationLinkComponent
      • PhysxArticulationLinkComponent.articulation
      • PhysxArticulationLinkComponent.children
      • PhysxArticulationLinkComponent.get_articulation()
      • PhysxArticulationLinkComponent.get_children()
      • PhysxArticulationLinkComponent.get_gpu_pose_index()
      • PhysxArticulationLinkComponent.get_index()
      • PhysxArticulationLinkComponent.get_joint()
      • PhysxArticulationLinkComponent.get_parent()
      • PhysxArticulationLinkComponent.gpu_pose_index
      • PhysxArticulationLinkComponent.index
      • PhysxArticulationLinkComponent.is_root
      • PhysxArticulationLinkComponent.joint
      • PhysxArticulationLinkComponent.parent
      • PhysxArticulationLinkComponent.put_to_sleep()
      • PhysxArticulationLinkComponent.set_parent()
      • PhysxArticulationLinkComponent.sleeping
      • PhysxArticulationLinkComponent.wake_up()
    • PhysxBaseComponent
    • PhysxBodyConfig
      • PhysxBodyConfig.sleep_threshold
      • PhysxBodyConfig.solver_position_iterations
      • PhysxBodyConfig.solver_velocity_iterations
    • PhysxCollisionShape
      • PhysxCollisionShape.collision_groups
      • PhysxCollisionShape.contact_offset
      • PhysxCollisionShape.density
      • PhysxCollisionShape.get_collision_groups()
      • PhysxCollisionShape.get_contact_offset()
      • PhysxCollisionShape.get_density()
      • PhysxCollisionShape.get_local_pose()
      • PhysxCollisionShape.get_min_patch_radius()
      • PhysxCollisionShape.get_patch_radius()
      • PhysxCollisionShape.get_physical_material()
      • PhysxCollisionShape.get_rest_offset()
      • PhysxCollisionShape.local_pose
      • PhysxCollisionShape.min_patch_radius
      • PhysxCollisionShape.patch_radius
      • PhysxCollisionShape.physical_material
      • PhysxCollisionShape.rest_offset
      • PhysxCollisionShape.set_collision_groups()
      • PhysxCollisionShape.set_contact_offset()
      • PhysxCollisionShape.set_density()
      • PhysxCollisionShape.set_local_pose()
      • PhysxCollisionShape.set_min_patch_radius()
      • PhysxCollisionShape.set_patch_radius()
      • PhysxCollisionShape.set_physical_material()
      • PhysxCollisionShape.set_rest_offset()
    • PhysxCollisionShapeBox
      • PhysxCollisionShapeBox.get_half_size()
      • PhysxCollisionShapeBox.half_size
    • PhysxCollisionShapeCapsule
      • PhysxCollisionShapeCapsule.get_half_length()
      • PhysxCollisionShapeCapsule.get_radius()
      • PhysxCollisionShapeCapsule.half_length
      • PhysxCollisionShapeCapsule.radius
    • PhysxCollisionShapeConvexMesh
      • PhysxCollisionShapeConvexMesh.get_scale()
      • PhysxCollisionShapeConvexMesh.get_triangles()
      • PhysxCollisionShapeConvexMesh.get_vertices()
      • PhysxCollisionShapeConvexMesh.load_multiple()
      • PhysxCollisionShapeConvexMesh.scale
      • PhysxCollisionShapeConvexMesh.triangles
      • PhysxCollisionShapeConvexMesh.vertices
    • PhysxCollisionShapeCylinder
      • PhysxCollisionShapeCylinder.get_half_length()
      • PhysxCollisionShapeCylinder.get_radius()
      • PhysxCollisionShapeCylinder.half_length
      • PhysxCollisionShapeCylinder.radius
    • PhysxCollisionShapePlane
    • PhysxCollisionShapeSphere
      • PhysxCollisionShapeSphere.get_radius()
      • PhysxCollisionShapeSphere.radius
    • PhysxCollisionShapeTriangleMesh
      • PhysxCollisionShapeTriangleMesh.get_scale()
      • PhysxCollisionShapeTriangleMesh.get_triangles()
      • PhysxCollisionShapeTriangleMesh.get_vertices()
      • PhysxCollisionShapeTriangleMesh.scale
      • PhysxCollisionShapeTriangleMesh.triangles
      • PhysxCollisionShapeTriangleMesh.vertices
    • PhysxContact
      • PhysxContact.bodies
      • PhysxContact.points
      • PhysxContact.shapes
    • PhysxContactPoint
      • PhysxContactPoint.impulse
      • PhysxContactPoint.normal
      • PhysxContactPoint.position
      • PhysxContactPoint.separation
    • PhysxCpuSystem
      • PhysxCpuSystem.get_contacts()
      • PhysxCpuSystem.pack()
      • PhysxCpuSystem.raycast()
      • PhysxCpuSystem.unpack()
    • PhysxDistanceJointComponent
      • PhysxDistanceJointComponent.distance
      • PhysxDistanceJointComponent.get_distance()
      • PhysxDistanceJointComponent.set_limit()
    • PhysxDriveComponent
      • PhysxDriveComponent.drive_target
      • PhysxDriveComponent.get_drive_property_slerp()
      • PhysxDriveComponent.get_drive_property_swing()
      • PhysxDriveComponent.get_drive_property_twist()
      • PhysxDriveComponent.get_drive_property_x()
      • PhysxDriveComponent.get_drive_property_y()
      • PhysxDriveComponent.get_drive_property_z()
      • PhysxDriveComponent.get_drive_target()
      • PhysxDriveComponent.get_drive_velocity_target()
      • PhysxDriveComponent.get_limit_cone()
      • PhysxDriveComponent.get_limit_pyramid()
      • PhysxDriveComponent.get_limit_twist()
      • PhysxDriveComponent.get_limit_x()
      • PhysxDriveComponent.get_limit_y()
      • PhysxDriveComponent.get_limit_z()
      • PhysxDriveComponent.set_drive_property_slerp()
      • PhysxDriveComponent.set_drive_property_swing()
      • PhysxDriveComponent.set_drive_property_twist()
      • PhysxDriveComponent.set_drive_property_x()
      • PhysxDriveComponent.set_drive_property_y()
      • PhysxDriveComponent.set_drive_property_z()
      • PhysxDriveComponent.set_drive_target()
      • PhysxDriveComponent.set_drive_velocity_target()
      • PhysxDriveComponent.set_limit_cone()
      • PhysxDriveComponent.set_limit_pyramid()
      • PhysxDriveComponent.set_limit_twist()
      • PhysxDriveComponent.set_limit_x()
      • PhysxDriveComponent.set_limit_y()
      • PhysxDriveComponent.set_limit_z()
    • PhysxEngine
    • PhysxGearComponent
      • PhysxGearComponent.enable_hinges()
      • PhysxGearComponent.gear_ratio
      • PhysxGearComponent.get_gear_ratio()
      • PhysxGearComponent.is_hinges_enabled
      • PhysxGearComponent.set_gear_ratio()
    • PhysxGpuContactBodyImpulseQuery
      • PhysxGpuContactBodyImpulseQuery.cuda_impulses
    • PhysxGpuContactPairImpulseQuery
      • PhysxGpuContactPairImpulseQuery.cuda_impulses
    • PhysxGpuSystem
      • PhysxGpuSystem.cuda_articulation_link_data
      • PhysxGpuSystem.cuda_articulation_qacc
      • PhysxGpuSystem.cuda_articulation_qf
      • PhysxGpuSystem.cuda_articulation_qpos
      • PhysxGpuSystem.cuda_articulation_qvel
      • PhysxGpuSystem.cuda_articulation_target_qpos
      • PhysxGpuSystem.cuda_articulation_target_qvel
      • PhysxGpuSystem.cuda_rigid_body_data
      • PhysxGpuSystem.cuda_rigid_dynamic_data
      • PhysxGpuSystem.device
      • PhysxGpuSystem.get_scene_offset()
      • PhysxGpuSystem.gpu_apply_articulation_qf()
      • PhysxGpuSystem.gpu_apply_articulation_qpos()
      • PhysxGpuSystem.gpu_apply_articulation_qvel()
      • PhysxGpuSystem.gpu_apply_articulation_root_pose()
      • PhysxGpuSystem.gpu_apply_articulation_root_velocity()
      • PhysxGpuSystem.gpu_apply_articulation_target_position()
      • PhysxGpuSystem.gpu_apply_articulation_target_velocity()
      • PhysxGpuSystem.gpu_apply_rigid_dynamic_data()
      • PhysxGpuSystem.gpu_create_contact_body_impulse_query()
      • PhysxGpuSystem.gpu_create_contact_pair_impulse_query()
      • PhysxGpuSystem.gpu_fetch_articulation_link_pose()
      • PhysxGpuSystem.gpu_fetch_articulation_link_velocity()
      • PhysxGpuSystem.gpu_fetch_articulation_qacc()
      • PhysxGpuSystem.gpu_fetch_articulation_qpos()
      • PhysxGpuSystem.gpu_fetch_articulation_qvel()
      • PhysxGpuSystem.gpu_fetch_articulation_target_qpos()
      • PhysxGpuSystem.gpu_fetch_articulation_target_qvel()
      • PhysxGpuSystem.gpu_fetch_rigid_dynamic_data()
      • PhysxGpuSystem.gpu_init()
      • PhysxGpuSystem.gpu_query_contact_body_impulses()
      • PhysxGpuSystem.gpu_query_contact_pair_impulses()
      • PhysxGpuSystem.gpu_set_cuda_stream()
      • PhysxGpuSystem.gpu_update_articulation_kinematics()
      • PhysxGpuSystem.set_scene_offset()
      • PhysxGpuSystem.step_finish()
      • PhysxGpuSystem.step_start()
      • PhysxGpuSystem.sync_poses_gpu_to_cpu()
    • PhysxJointComponent
      • PhysxJointComponent.get_parent()
      • PhysxJointComponent.get_pose_in_child()
      • PhysxJointComponent.get_pose_in_parent()
      • PhysxJointComponent.get_relative_pose()
      • PhysxJointComponent.parent
      • PhysxJointComponent.pose_in_child
      • PhysxJointComponent.pose_in_parent
      • PhysxJointComponent.relative_pose
      • PhysxJointComponent.set_inv_inertia_scales()
      • PhysxJointComponent.set_inv_mass_scales()
      • PhysxJointComponent.set_parent()
      • PhysxJointComponent.set_pose_in_child()
      • PhysxJointComponent.set_pose_in_parent()
    • PhysxMaterial
      • PhysxMaterial.dynamic_friction
      • PhysxMaterial.get_dynamic_friction()
      • PhysxMaterial.get_restitution()
      • PhysxMaterial.get_static_friction()
      • PhysxMaterial.restitution
      • PhysxMaterial.set_dynamic_friction()
      • PhysxMaterial.set_restitution()
      • PhysxMaterial.set_static_friction()
      • PhysxMaterial.static_friction
    • PhysxRayHit
      • PhysxRayHit.component
      • PhysxRayHit.distance
      • PhysxRayHit.normal
      • PhysxRayHit.position
      • PhysxRayHit.shape
    • PhysxRigidBaseComponent
      • PhysxRigidBaseComponent.attach()
      • PhysxRigidBaseComponent.collision_shapes
      • PhysxRigidBaseComponent.compute_global_aabb_tight()
      • PhysxRigidBaseComponent.get_collision_shapes()
      • PhysxRigidBaseComponent.get_global_aabb_fast()
    • PhysxRigidBodyComponent
      • PhysxRigidBodyComponent.add_force_at_point()
      • PhysxRigidBodyComponent.add_force_torque()
      • PhysxRigidBodyComponent.angular_damping
      • PhysxRigidBodyComponent.angular_velocity
      • PhysxRigidBodyComponent.auto_compute_mass
      • PhysxRigidBodyComponent.cmass_local_pose
      • PhysxRigidBodyComponent.disable_gravity
      • PhysxRigidBodyComponent.get_angular_damping()
      • PhysxRigidBodyComponent.get_angular_velocity()
      • PhysxRigidBodyComponent.get_auto_compute_mass()
      • PhysxRigidBodyComponent.get_cmass_local_pose()
      • PhysxRigidBodyComponent.get_disable_gravity()
      • PhysxRigidBodyComponent.get_inertia()
      • PhysxRigidBodyComponent.get_linear_damping()
      • PhysxRigidBodyComponent.get_linear_velocity()
      • PhysxRigidBodyComponent.get_mass()
      • PhysxRigidBodyComponent.get_max_contact_impulse()
      • PhysxRigidBodyComponent.get_max_depenetration_velocity()
      • PhysxRigidBodyComponent.inertia
      • PhysxRigidBodyComponent.linear_damping
      • PhysxRigidBodyComponent.linear_velocity
      • PhysxRigidBodyComponent.mass
      • PhysxRigidBodyComponent.max_contact_impulse
      • PhysxRigidBodyComponent.max_depenetration_velocity
      • PhysxRigidBodyComponent.set_angular_damping()
      • PhysxRigidBodyComponent.set_cmass_local_pose()
      • PhysxRigidBodyComponent.set_disable_gravity()
      • PhysxRigidBodyComponent.set_inertia()
      • PhysxRigidBodyComponent.set_linear_damping()
      • PhysxRigidBodyComponent.set_mass()
      • PhysxRigidBodyComponent.set_max_contact_impulse()
      • PhysxRigidBodyComponent.set_max_depenetration_velocity()
    • PhysxRigidDynamicComponent
      • PhysxRigidDynamicComponent.angular_velocity
      • PhysxRigidDynamicComponent.get_angular_velocity()
      • PhysxRigidDynamicComponent.get_gpu_index()
      • PhysxRigidDynamicComponent.get_gpu_pose_index()
      • PhysxRigidDynamicComponent.get_kinematic()
      • PhysxRigidDynamicComponent.get_kinematic_target()
      • PhysxRigidDynamicComponent.get_linear_velocity()
      • PhysxRigidDynamicComponent.get_locked_motion_axes()
      • PhysxRigidDynamicComponent.get_sleep_threshold()
      • PhysxRigidDynamicComponent.get_solver_position_iterations()
      • PhysxRigidDynamicComponent.get_solver_velocity_iterations()
      • PhysxRigidDynamicComponent.gpu_index
      • PhysxRigidDynamicComponent.gpu_pose_index
      • PhysxRigidDynamicComponent.is_sleeping
      • PhysxRigidDynamicComponent.kinematic
      • PhysxRigidDynamicComponent.kinematic_target
      • PhysxRigidDynamicComponent.linear_velocity
      • PhysxRigidDynamicComponent.locked_motion_axes
      • PhysxRigidDynamicComponent.put_to_sleep()
      • PhysxRigidDynamicComponent.set_angular_velocity()
      • PhysxRigidDynamicComponent.set_kinematic()
      • PhysxRigidDynamicComponent.set_kinematic_target()
      • PhysxRigidDynamicComponent.set_linear_velocity()
      • PhysxRigidDynamicComponent.set_locked_motion_axes()
      • PhysxRigidDynamicComponent.set_sleep_threshold()
      • PhysxRigidDynamicComponent.set_solver_position_iterations()
      • PhysxRigidDynamicComponent.set_solver_velocity_iterations()
      • PhysxRigidDynamicComponent.sleep_threshold
      • PhysxRigidDynamicComponent.solver_position_iterations
      • PhysxRigidDynamicComponent.solver_velocity_iterations
      • PhysxRigidDynamicComponent.wake_up()
    • PhysxRigidStaticComponent
    • PhysxSceneConfig
      • PhysxSceneConfig.bounce_threshold
      • PhysxSceneConfig.enable_ccd
      • PhysxSceneConfig.enable_enhanced_determinism
      • PhysxSceneConfig.enable_friction_every_iteration
      • PhysxSceneConfig.enable_pcm
      • PhysxSceneConfig.enable_tgs
      • PhysxSceneConfig.gravity
    • PhysxShapeConfig
      • PhysxShapeConfig.contact_offset
      • PhysxShapeConfig.rest_offset
    • PhysxSystem
      • PhysxSystem.articulation_link_components
      • PhysxSystem.config
      • PhysxSystem.get_articulation_link_components()
      • PhysxSystem.get_config()
      • PhysxSystem.get_rigid_dynamic_components()
      • PhysxSystem.get_rigid_static_components()
      • PhysxSystem.get_scene_collision_id()
      • PhysxSystem.get_timestep()
      • PhysxSystem.rigid_dynamic_components
      • PhysxSystem.rigid_static_components
      • PhysxSystem.scene_collision_id
      • PhysxSystem.set_scene_collision_id()
      • PhysxSystem.set_timestep()
      • PhysxSystem.timestep
    • get_body_config()
    • get_default_material()
    • get_scene_config()
    • get_shape_config()
    • is_gpu_enabled()
    • set_body_config()
    • set_default_material()
    • set_gpu_memory_config()
    • set_scene_config()
    • set_shape_config()
    • version()

Module contents

class sapien.pysapien.Component

Bases: pybind11_object

disable(self: sapien.pysapien.Component) → None

disable the component

enable(self: sapien.pysapien.Component) → None

enable the component

property entity

property entity_pose

get_entity(self: sapien.pysapien.Component) → sapien.pysapien.Entity

get_entity_pose(self: sapien.pysapien.Component) → sapien.pysapien.Pose

get_name(self: sapien.pysapien.Component) → str

get_pose(self: sapien.pysapien.Component) → sapien.pysapien.Pose

property is_enabled

property name

property pose

set_entity_pose(self: sapien.pysapien.Component, pose: sapien.pysapien.Pose) → None

set_name(self: sapien.pysapien.Component, name: str) → None

set_pose(self: sapien.pysapien.Component, pose: sapien.pysapien.Pose) → None

class sapien.pysapien.CudaArray

Bases: pybind11_object

property cuda_id

dlpack(self: sapien.pysapien.CudaArray) → object

jax(self: sapien.pysapien.CudaArray) → object

property ptr

property shape

property strides

torch(self: sapien.pysapien.CudaArray) → object

property typestr

class sapien.pysapien.Device

Bases: pybind11_object

can_present(self: sapien.pysapien.Device) → bool

can_render(self: sapien.pysapien.Device) → bool

property cuda_id

is_cpu(self: sapien.pysapien.Device) → bool

is_cuda(self: sapien.pysapien.Device) → bool

property name

property pci_string

class sapien.pysapien.Entity

Bases: pybind11_object

add_component(self: sapien.pysapien.Entity, component: sapien.pysapien.Component) → sapien.pysapien.Entity

add_to_scene(self: sapien.pysapien.Entity, scene: sapien.pysapien.Scene) → sapien.pysapien.Entity

property components

find_component_by_type(self: sapien.pysapien.Entity, cls: type) → sapien.pysapien.Component

get_components(self: sapien.pysapien.Entity) → list[sapien.pysapien.Component]

get_global_id(self: sapien.pysapien.Entity) → int

get_name(self: sapien.pysapien.Entity) → str

get_per_scene_id(self: sapien.pysapien.Entity) → int

get_pose(self: sapien.pysapien.Entity) → sapien.pysapien.Pose

get_scene(self: sapien.pysapien.Entity) → sapien.pysapien.Scene

property global_id

property name

property per_scene_id

property pose

remove_component(self: sapien.pysapien.Entity, component: sapien.pysapien.Component) → None

remove_from_scene(self: sapien.pysapien.Entity) → None

property scene

set_name(self: sapien.pysapien.Entity, name: str) → None

set_pose(self: sapien.pysapien.Entity, pose: sapien.pysapien.Pose) → None

class sapien.pysapien.Pose

Bases: pybind11_object

get_p(self: sapien.pysapien.Pose) → numpy.ndarray[Literal[3], numpy.dtype[numpy.float32]]

get_q(self: sapien.pysapien.Pose) → numpy.ndarray[Literal[4], numpy.dtype[numpy.float32]]

get_rpy(self: sapien.pysapien.Pose) → numpy.ndarray[Literal[3], numpy.dtype[numpy.float32]]

inv(self: sapien.pysapien.Pose) → sapien.pysapien.Pose

property p

property q

property rpy

set_p(self: sapien.pysapien.Pose, p: numpy.ndarray[Literal[3], numpy.dtype[numpy.float32]]) → None

set_q(self: sapien.pysapien.Pose, q: numpy.ndarray[Literal[4], numpy.dtype[numpy.float32]]) → None

set_rpy(self: sapien.pysapien.Pose, rpy: numpy.ndarray[Literal[3], numpy.dtype[numpy.float32]]) → None

to_transformation_matrix(self: sapien.pysapien.Pose) → numpy.ndarray[numpy.float32[4, 4]]

class sapien.pysapien.Profiler

Bases: pybind11_object

class sapien.pysapien.Scene

Bases: pybind11_object

add_entity(self: sapien.pysapien.Scene, entity: sapien.pysapien.Entity) → None

add_system(self: sapien.pysapien.Scene, system: sapien.pysapien.System) → None

clear(self: sapien.pysapien.Scene) → None

property entities

get_entities(self: sapien.pysapien.Scene) → list[sapien.pysapien.Entity]

get_id(self: sapien.pysapien.Scene) → int

get_physx_system(self: sapien.pysapien.Scene) → sapien.pysapien.physx.PhysxSystem

get_render_system(self: sapien.pysapien.Scene) → sapien.pysapien.render.RenderSystem

get_system(self: sapien.pysapien.Scene, name: str) → sapien.pysapien.System

property id

pack_poses(self: sapien.pysapien.Scene) → bytes

property physx_system

remove_entity(self: sapien.pysapien.Scene, entity: sapien.pysapien.Entity) → None

property render_system

unpack_poses(self: sapien.pysapien.Scene, data: bytes) → None

class sapien.pysapien.System

Bases: pybind11_object

step(self: sapien.pysapien.System) → None

sapien.pysapien.abi_version() → int

sapien.pysapien.compiled_with_cxx11_abi() → bool

sapien.pysapien.profile(*args, **kwargs)

Overloaded function.

1. profile(name: str) -> sapien.pysapien.Profiler

2. profile(func: Callable) -> Callable

sapien.pysapien.pybind11_internals_id() → str

sapien.pysapien.pybind11_use_smart_holder() → bool

sapien.pysapien.set_log_level(level: str) → None