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 |
---|---|---|---|
relative_prim_path |
str
|
Scene-local 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 @relative_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 omnigibson/prims/cloth_prim.py
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|
bend_stiffness
property
writable
Returns:
Type | Description |
---|---|
float
|
spring bend stiffness of the particle system |
body_name
property
Returns:
Type | Description |
---|---|
str
|
Name of this body |
centroid_particle_position
property
Grabs the individual particle that was pre-computed to be the closest to the centroid of this cloth prim.
Returns:
Type | Description |
---|---|
tensor
|
centroid particle's (x,y,z) cartesian coordinates relative to the world frame |
damping
property
writable
Returns:
Type | Description |
---|---|
float
|
spring damping of the particle system |
faces
property
Grabs particle indexes defining each of the faces for this cloth prim
Returns:
Type | Description |
---|---|
tensor
|
(N, 3) numpy array, where each of the N faces are defined by the 3 particle indices corresponding to that face's vertices |
keyface_idx
property
Returns:
Type | Description |
---|---|
n - array
|
(N,) array specifying the keyface IDs |
keyfaces
property
Grabs particle indexes defining each of the keyfaces for this cloth prim. Total number of keyfaces is m.N_CLOTH_KEYFACES
Returns:
Type | Description |
---|---|
tensor
|
(N, 3) numpy array, where each of the N keyfaces are defined by the 3 particle indices corresponding to that face's vertices |
keypoint_idx
property
Returns:
Type | Description |
---|---|
n - array
|
(N,) array specifying the keypoint particle IDs |
keypoint_particle_positions
property
Grabs individual keypoint particle positions for this cloth prim. Total number of keypoints is m.N_CLOTH_KEYPOINTS
Returns:
Type | Description |
---|---|
tensor
|
(N, 3) numpy array, where each of the N keypoint particles' positions are expressed in (x,y,z) cartesian coordinates relative to the world frame |
kinematic_only
property
Returns:
Type | Description |
---|---|
bool
|
Whether this object is a kinematic-only object. For ClothPrim, always return False. |
mass
property
writable
Returns:
Type | Description |
---|---|
float
|
mass of the rigid body in kg. |
n_particles
property
Returns:
Type | Description |
---|---|
int
|
Number of particles owned by this cloth prim |
particle_group
property
writable
Returns:
Type | Description |
---|---|
int
|
Particle group this instancer belongs to |
particle_velocities
property
writable
Grabs individual particle velocities for this cloth prim
Returns:
Type | Description |
---|---|
tensor
|
(N, 3) numpy array, where each of the N particles' velocities are expressed in (x,y,z) cartesian coordinates with respect to the world frame. |
shear_stiffness
property
writable
Returns:
Type | Description |
---|---|
float
|
spring shear_stiffness of the particle system |
stretch_stiffness
property
writable
Returns:
Type | Description |
---|---|
float
|
spring stretch_stiffness of the particle system |
compute_face_normals(face_ids=None)
Grabs individual face normals for this cloth prim
Parameters:
Name | Type | Description | Default |
---|---|---|---|
face_ids |
None or n - array
|
If specified, list of face IDs whose corresponding normals should be computed If None, all faces will be used |
None
|
Returns:
Type | Description |
---|---|
tensor
|
(N, 3) numpy array, where each of the N faces' normals are expressed in (x,y,z) cartesian coordinates with respect to the world frame. |
Source code in omnigibson/prims/cloth_prim.py
compute_face_normals_from_particle_positions(positions)
Grabs individual face normals for this cloth prim
Parameters:
Name | Type | Description | Default |
---|---|---|---|
positions |
n - array
|
(N, 3, 3) array specifying the per-face particle positions |
required |
Returns:
Type | Description |
---|---|
tensor
|
(N, 3) numpy array, where each of the N faces' normals are expressed in (x,y,z) cartesian coordinates with respect to the world frame. |
Source code in omnigibson/prims/cloth_prim.py
compute_particle_positions(idxs=None)
Compute individual particle positions for this cloth prim
Parameters:
Name | Type | Description | Default |
---|---|---|---|
idxs |
n - array or None
|
If set, will only calculate the requested indexed particle state |
None
|
Returns:
Type | Description |
---|---|
tensor
|
(N, 3) numpy array, where each of the N particles' positions are expressed in (x,y,z) cartesian coordinates relative to the world frame |
Source code in omnigibson/prims/cloth_prim.py
contact_list(keypoints_only=True)
Get list of all current contacts with this cloth body
Parameters:
Name | Type | Description | Default |
---|---|---|---|
keypoints_only |
bool
|
If True, will only check contact with this cloth's keypoints |
True
|
Returns:
Type | Description |
---|---|
list of CsRawData
|
raw contact info for this cloth body |
Source code in omnigibson/prims/cloth_prim.py
get_angular_velocity()
Returns:
Type | Description |
---|---|
tensor
|
zero vector as a placeholder because a cloth prim doesn't have an angular velocity. Shape (3,). |
get_linear_velocity()
Returns:
Type | Description |
---|---|
tensor
|
current average linear velocity of the particles of the cloth prim. Shape (3,). |
reset()
Reset the points to their default positions in the local frame, and also zeroes out velocities
Source code in omnigibson/prims/cloth_prim.py
set_angular_velocity(velocity)
Simply returns because a cloth prim doesn't have an angular velocity
Parameters:
Name | Type | Description | Default |
---|---|---|---|
velocity |
tensor
|
linear velocity to set all the particles of the cloth prim to. Shape (3,). |
required |
Source code in omnigibson/prims/cloth_prim.py
set_linear_velocity(velocity)
Sets the linear velocity of all the particles of the cloth prim.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
velocity |
tensor
|
linear velocity to set all the particles of the cloth prim to. Shape (3,). |
required |
Source code in omnigibson/prims/cloth_prim.py
set_particle_positions(positions, idxs=None)
Sets individual particle positions for this cloth prim
Parameters:
Name | Type | Description | Default |
---|---|---|---|
positions |
n - 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 |
required |
idxs |
n - array or None
|
If set, will only set the requested indexed particle state |
None
|