cloth_prim
ClothPrim
Bases: GeomPrim
Provides high level functions to deal with a cloth prim and its attributes/ properties. If there is an prim present at the path, it will use it. Otherwise, a new XForm prim at the specified prim path will be created.
if the prim does not already have a cloth api applied to it before it is loaded,
it will apply it.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
prim_path |
str
|
prim path of the Prim to encapsulate or create. |
required |
name |
str
|
Name for the object. Names need to be unique per scene. |
required |
load_config |
None or dict
|
If specified, should contain keyword-mapped values that are relevant for loading this prim at runtime. Note that this is only needed if the prim does not already exist at @prim_path -- it will be ignored if it already exists. For this joint prim, the below values can be specified: scale (None or float or 3-array): If specified, sets the scale for this object. A single number corresponds to uniform scaling along the x,y,z axes, whereas a 3-array specifies per-axis scaling. mass (None or float): If specified, mass of this body in kg |
None
|
Source code in prims/cloth_prim.py
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|
mass
property
writable
Returns:
Name | Type | Description |
---|---|---|
float | mass of the rigid body in kg. |
particle_positions
property
writable
Returns:
Type | Description |
---|---|
np.array: (N, 3) numpy array, where each of the N particles' positions are expressed in (x,y,z) cartesian coordinates relative to the world frame |