sim.sap_runtime.SapModel#

class sim.sap_runtime.SapModel(device: Any, joint_count: int, joint_dof_count: int, joint_coord_count: int, body_count: int, articulation_count: int, world_count: int, shape_count: int, requires_grad: bool, joint_type: array, joint_articulation: array, joint_parent: array, joint_child: array, joint_q_start: array, joint_qd_start: array, joint_dof_dim: array, joint_axis: array, joint_X_p: array, joint_X_c: array, joint_ancestor: array, articulation_start: array, joint_q: array, joint_qd: array, body_q: array, body_qd: array, body_mass: array, body_inertia: array, body_com: array, body_flags: array, body_world: array, gravity: array, joint_armature: array, shape_body: array, shape_material_mu: array | None, shape_material_ke: array | None, shape_material_tau: array | None, joint_target_mode: array, joint_target_ke: array, joint_target_kd: array, joint_target_pos: array, joint_target_vel: array, joint_f: array, joint_act: array, joint_effort_limit: array, joint_limit_lower: array, joint_limit_upper: array, joint_limit_ke: array, joint_limit_kd: array, sap_debug_body_mass: array | None = None, sap_debug_body_inertia: array | None = None, sap_debug_body_com: array | None = None, sap_debug_joint_axis: array | None = None, sap_debug_joint_X_p: array | None = None, sap_debug_joint_X_c: array | None = None, sap_debug_gravity: array | None = None, sap_debug_joint_armature: array | None = None, sap_debug_shape_material_mu: array | None = None, sap_debug_shape_material_ke: array | None = None, sap_debug_shape_material_tau: array | None = None, up_axis: int = 2, shape_transform: array | None = None, shape_type: array | None = None, shape_scale: array | None = None, shape_flags: array | None = None, shape_margin: array | None = None, shape_gap: array | None = None, shape_is_solid: array | None = None, shape_source: list[Any] | None = None, shape_source_ptr: array | None = None, shape_collision_radius: array | None = None, shape_world: array | None = None, shape_sdf_index: array | None = None, texture_sdf_data: array | None = None, texture_sdf_coarse_textures: list[Any] | None = None, texture_sdf_subgrid_textures: list[Any] | None = None, texture_sdf_subgrid_start_slots: list[Any] | None = None, body_label: tuple[str, ...] = (), joint_label: tuple[str, ...] = (), articulation_label: tuple[str, ...] = (), shape_label: tuple[str, ...] = ())[source]#

Bases: object

Immutable SAP model arrays describing topology, articulated bodies, shapes, materials, limits, drives, labels, and initial state for one or more replicated worlds.

__init__(device: Any, joint_count: int, joint_dof_count: int, joint_coord_count: int, body_count: int, articulation_count: int, world_count: int, shape_count: int, requires_grad: bool, joint_type: array, joint_articulation: array, joint_parent: array, joint_child: array, joint_q_start: array, joint_qd_start: array, joint_dof_dim: array, joint_axis: array, joint_X_p: array, joint_X_c: array, joint_ancestor: array, articulation_start: array, joint_q: array, joint_qd: array, body_q: array, body_qd: array, body_mass: array, body_inertia: array, body_com: array, body_flags: array, body_world: array, gravity: array, joint_armature: array, shape_body: array, shape_material_mu: array | None, shape_material_ke: array | None, shape_material_tau: array | None, joint_target_mode: array, joint_target_ke: array, joint_target_kd: array, joint_target_pos: array, joint_target_vel: array, joint_f: array, joint_act: array, joint_effort_limit: array, joint_limit_lower: array, joint_limit_upper: array, joint_limit_ke: array, joint_limit_kd: array, sap_debug_body_mass: array | None = None, sap_debug_body_inertia: array | None = None, sap_debug_body_com: array | None = None, sap_debug_joint_axis: array | None = None, sap_debug_joint_X_p: array | None = None, sap_debug_joint_X_c: array | None = None, sap_debug_gravity: array | None = None, sap_debug_joint_armature: array | None = None, sap_debug_shape_material_mu: array | None = None, sap_debug_shape_material_ke: array | None = None, sap_debug_shape_material_tau: array | None = None, up_axis: int = 2, shape_transform: array | None = None, shape_type: array | None = None, shape_scale: array | None = None, shape_flags: array | None = None, shape_margin: array | None = None, shape_gap: array | None = None, shape_is_solid: array | None = None, shape_source: list[Any] | None = None, shape_source_ptr: array | None = None, shape_collision_radius: array | None = None, shape_world: array | None = None, shape_sdf_index: array | None = None, texture_sdf_data: array | None = None, texture_sdf_coarse_textures: list[Any] | None = None, texture_sdf_subgrid_textures: list[Any] | None = None, texture_sdf_subgrid_start_slots: list[Any] | None = None, body_label: tuple[str, ...] = (), joint_label: tuple[str, ...] = (), articulation_label: tuple[str, ...] = (), shape_label: tuple[str, ...] = ()) → None#

Methods

`__init__`(device, joint_count, ...[, ...])
`control`([requires_grad, clone_variables])	Create a SapControl object initialized from the model force, target, and actuation arrays.
`state`([requires_grad])	Create a mutable SapState initialized from the model position, velocity, body pose, and body velocity arrays.

Attributes

`articulation_label`
`body_label`
`joint_label`
`sap_debug_body_com`
`sap_debug_body_inertia`
`sap_debug_body_mass`
`sap_debug_gravity`
`sap_debug_joint_X_c`
`sap_debug_joint_X_p`
`sap_debug_joint_armature`
`sap_debug_joint_axis`
`sap_debug_shape_material_ke`
`sap_debug_shape_material_mu`
`sap_debug_shape_material_tau`
`shape_collision_radius`
`shape_flags`
`shape_gap`
`shape_is_solid`
`shape_label`
`shape_margin`
`shape_scale`
`shape_sdf_index`
`shape_source`
`shape_source_ptr`
`shape_transform`
`shape_type`
`shape_world`
`texture_sdf_coarse_textures`
`texture_sdf_data`
`texture_sdf_subgrid_start_slots`
`texture_sdf_subgrid_textures`
`up_axis`
`device`
`joint_count`
`joint_dof_count`
`joint_coord_count`
`body_count`
`articulation_count`
`world_count`
`shape_count`
`requires_grad`
`joint_type`
`joint_articulation`
`joint_parent`
`joint_child`
`joint_q_start`
`joint_qd_start`
`joint_dof_dim`
`joint_axis`
`joint_X_p`
`joint_X_c`
`joint_ancestor`
`articulation_start`
`joint_q`
`joint_qd`
`body_q`
`body_qd`
`body_mass`
`body_inertia`
`body_com`
`body_flags`
`body_world`
`gravity`
`joint_armature`
`shape_body`
`shape_material_mu`
`shape_material_ke`
`shape_material_tau`
`joint_target_mode`
`joint_target_ke`
`joint_target_kd`
`joint_target_pos`
`joint_target_vel`
`joint_f`
`joint_act`
`joint_effort_limit`
`joint_limit_lower`
`joint_limit_upper`
`joint_limit_ke`
`joint_limit_kd`