gs.morphs.Box#
- class genesis.options.morphs.Box(*, order: int = 1, mindihedral: int = 10, minratio: float = 1.1, nobisect: bool = True, quality: bool = True, maxvolume: float = -1.0, verbose: int = 0, force_retet: bool = False, pos: tuple = (0.0, 0.0, 0.0), euler: tuple | None = None, quat: tuple | None = None, visualization: bool = True, collision: bool = True, requires_jac_and_IK: bool = False, is_free: bool | None = None, fixed: bool = False, contype: int = 65535, conaffinity: int = 65535, lower: tuple | None = None, upper: tuple | None = None, size: tuple | None = None)[source]#
Morph defined by a box shape.
Note
Either [pos and size] or [lower and upper] should be specified. The latter has a higher priority.
- Parameters:
pos (tuple, shape (3,), optional) – The position of the entity in meters. Defaults to (0.0, 0.0, 0.0).
euler (tuple, shape (3,), optional) – The euler angle of the entity in degrees. This follows scipy’s extrinsic x-y-z rotation convention. Defaults to (0.0, 0.0, 0.0).
quat (tuple, shape (4,), optional) – The quaternion (w-x-y-z convention) of the entity. If specified, euler will be ignored. Defaults to None.
lower (tuple, shape (3,), optional) – The lower corner of the box in meters. Defaults to None.
upper (tuple, shape (3,), optional) – The upper corner of the box in meters. Defaults to None.
size (tuple, shape (3,), optional) – The size of the box in meters. Defaults to None.
visualization (bool, optional) – Whether the entity needs to be visualized. Set it to False if you need a invisible object only for collision purposes. Defaults to True. visualization and collision cannot both be False. This is only used for RigidEntity.
collision (bool, optional) – Whether the entity needs to be considered for collision checking. Defaults to True. visualization and collision cannot both be False. This is only used for RigidEntity.
requires_jac_and_IK (bool, optional) – Whether this morph, if created as RigidEntity, requires jacobian and inverse kinematics. Defaults to False. This is only used for RigidEntity.
fixed (bool, optional) – Whether the baselink of the entity should be fixed. Defaults to False. This is only used for RigidEntity.
contype (int, optional) – The 32-bit integer bitmasks used for contact filtering of contact pairs. When the contype of one geom and the conaffinity of the other geom share a common bit set to 1, two geoms can collide. Defaults to 0xFFFF.
conaffinity (int, optional) – The 32-bit integer bitmasks used for contact filtering of contact pairs. When the conaffinity of one geom and the contype of the other geom share a common bit set to 1, two geoms can collide. Defaults to 0xFFFF.
order (int, optional) – The order of the FEM mesh. Defaults to 1. This is only used for FEMEntity.
mindihedral (int, optional) – The minimum dihedral angle in degrees during tetraheralization. Defaults to 10. This is only used for Volumetric Entity that requires tetraheralization.
minratio (float, optional) – The minimum tetrahedron quality ratio during tetraheralization. Defaults to 1.1. This is only used for Volumetric Entity that requires tetraheralization.
nobisect (bool, optional) – Whether to disable bisection during tetraheralization. Defaults to True. This is only used for Volumetric Entity that requires tetraheralization.
quality (bool, optional) – Whether to improve quality during tetraheralization. Defaults to True. This is only used for Volumetric Entity that requires tetraheralization.
maxvolume (float, optional) – The maximum tetrahedron volume. Defaults to -1.0 (no limit). This is only used for Volumetric Entity that requires tetraheralization.
verbose (int, optional) – The verbosity level during tetraheralization. Defaults to 0. This is only used for Volumetric Entity that requires tetraheralization.
force_retet (bool, optional) – Whether to force re-tetraheralization. Defaults to False. This is only used for Volumetric Entity that requires tetraheralization.