sim.loader.scene.SapLoadedScene#

class sim.loader.scene.SapLoadedScene(collision_model: SapCollisionModel, collision_state: SapCollisionState, sap_model: SapModel, sap_state: SapState, sap_control: SapControl, body_labels: tuple[str, ...], shape_labels: tuple[str, ...], unsupported_features: tuple[str, ...] = (), source_path: Path | None = None, shape_colors: tuple[tuple[float, float, float] | None, ...] = ())[source]#

Bases: object

Loaded scene bundle returned by load_sap_scene. It keeps collision data, SAP runtime arrays, labels, unsupported-feature notes, and the source path together for the caller.

__init__(collision_model: SapCollisionModel, collision_state: SapCollisionState, sap_model: SapModel, sap_state: SapState, sap_control: SapControl, body_labels: tuple[str, ...], shape_labels: tuple[str, ...], unsupported_features: tuple[str, ...] = (), source_path: Path | None = None, shape_colors: tuple[tuple[float, float, float] | None, ...] = ()) → None#

Methods

__init__(collision_model, collision_state, ...)

Attributes

`shape_colors`
`source_path`
`unsupported_features`
`collision_model`
`collision_state`
`sap_model`
`sap_state`
`sap_control`
`body_labels`
`shape_labels`