habitat_sim.physics.RigidConstraintSettings class

Special methods

def __init__(self, /) -> None

Properties

constraint_type: RigidConstraintType get set
The type of constraint described by these settings.
frame_a: magnum.Matrix3x3 get set
Constraint orientation frame in local space of objectA as 3x3 rotation matrix for RigidConstraintType::Fixed.
frame_b: magnum.Matrix3x3 get set
Constraint orientation frame in local space of objectB as 3x3 rotation matrix for RigidConstraintType::Fixed.
The id of the link for objectA if articulated, otherwise ignored. -1 for base link.
The id of the link for objectB if articulated, otherwise ignored. -1 for base link.
max_impulse: float get set
The maximum impulse applied by this constraint. Should be tuned relative to physics timestep.
object_id_a: int get set
The id of the first object. Must be >=0. For mixed type constraints, objectA must be the ArticulatedObject.
object_id_b: int get set
The id of the second object. -1 for world/global.
pivot_a: magnum.Vector3 get set
Constraint point in local space of objectA.
pivot_b: magnum.Vector3 get set
Constraint point in local space of objectB.