isaaclab_physx.sim.schemas.rst

isaaclab_physx.sim.schemas

.. automodule:: isaaclab_physx.sim.schemas

  PhysX-specific schema configuration classes. Each cfg below extends a
  solver-common base in :mod:`isaaclab.sim.schemas` with PhysX-namespaced
  attributes (``physx*:*``) and applies the corresponding ``Physx*API``
  applied schema. See :doc:`/source/overview/core-concepts/schema_cfgs`
  for the design.

  .. rubric:: Rigid body and joint drive

  .. autosummary::

    PhysxRigidBodyPropertiesCfg
    PhysxJointDrivePropertiesCfg

  .. rubric:: Collision

  .. autosummary::

    PhysxCollisionPropertiesCfg

  .. rubric:: Articulation root

  .. autosummary::

    PhysxArticulationRootPropertiesCfg

  .. rubric:: Mesh collision (PhysX cooking)

  .. autosummary::

    PhysxConvexHullPropertiesCfg
    PhysxConvexDecompositionPropertiesCfg
    PhysxTriangleMeshPropertiesCfg
    PhysxTriangleMeshSimplificationPropertiesCfg
    PhysxSDFMeshPropertiesCfg

  .. rubric:: Tendon

  .. autosummary::

    PhysxFixedTendonPropertiesCfg
    PhysxTendonAxisRootCfg
    PhysxTendonAxisCfg
    PhysxSpatialTendonPropertiesCfg
    PhysxTendonAttachmentRootCfg

  .. rubric:: Deformable body

  .. autosummary::

    OmniPhysicsDeformableBodyPropertiesCfg
    PhysxDeformableBodyPropertiesCfg
    DeformableBodyPropertiesCfg

  .. rubric:: Functions

  .. autosummary::

    define_deformable_body_properties
    modify_deformable_body_properties

.. currentmodule:: isaaclab_physx.sim.schemas

Rigid Body

.. autoclass:: PhysxRigidBodyPropertiesCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

Joint Drive

.. autoclass:: PhysxJointDrivePropertiesCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

Collision

.. autoclass:: PhysxCollisionPropertiesCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

Articulation Root

.. autoclass:: PhysxArticulationRootPropertiesCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

Mesh Collision (PhysX cooking)

.. autoclass:: PhysxConvexHullPropertiesCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

.. autoclass:: PhysxConvexDecompositionPropertiesCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

.. autoclass:: PhysxTriangleMeshPropertiesCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

.. autoclass:: PhysxTriangleMeshSimplificationPropertiesCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

.. autoclass:: PhysxSDFMeshPropertiesCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

Tendon

.. autoclass:: PhysxFixedTendonPropertiesCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

.. autoclass:: PhysxTendonAxisRootCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

.. autoclass:: PhysxTendonAxisCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

.. autoclass:: PhysxSpatialTendonPropertiesCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

.. autoclass:: PhysxTendonAttachmentRootCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

Deformable Body

.. autoclass:: OmniPhysicsDeformableBodyPropertiesCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

.. autoclass:: PhysxDeformableBodyPropertiesCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

.. autoclass:: DeformableBodyPropertiesCfg
    :members:
    :show-inheritance:
    :exclude-members: __init__

Schema define and modify functions remain unified in :mod:`isaaclab.sim.schemas`.

Additional Public Classes

The following classes are part of the public :mod:`isaaclab_physx.sim.schemas` API.

.. currentmodule:: isaaclab_physx.sim.schemas

.. autosummary::
   :nosignatures:

   ArticulationRootPropertiesCfg
   CollisionPropertiesCfg
   ConvexDecompositionPropertiesCfg
   ConvexHullPropertiesCfg
   FixedTendonPropertiesCfg
   JointDrivePropertiesCfg
   MeshCollisionPropertiesCfg
   PhysxArticulationCfg
   PhysxCollisionCfg
   PhysxConvexDecompositionCfg
   PhysxConvexHullCfg
   PhysxJointCfg
   PhysxRigidBodyCfg
   PhysxSDFMeshCfg
   PhysxTriangleMeshCfg
   PhysxTriangleMeshSimplificationCfg
   RigidBodyPropertiesCfg
   SDFMeshPropertiesCfg
   SpatialTendonPropertiesCfg
   TriangleMeshPropertiesCfg
   TriangleMeshSimplificationPropertiesCfg

.. autoclass:: ArticulationRootPropertiesCfg
   :show-inheritance:

.. autoclass:: CollisionPropertiesCfg
   :show-inheritance:

.. autoclass:: ConvexDecompositionPropertiesCfg
   :show-inheritance:

.. autoclass:: ConvexHullPropertiesCfg
   :show-inheritance:

.. autoclass:: FixedTendonPropertiesCfg
   :show-inheritance:

.. autoclass:: JointDrivePropertiesCfg
   :show-inheritance:

.. autoclass:: MeshCollisionPropertiesCfg
   :show-inheritance:

.. autoclass:: PhysxArticulationCfg
   :show-inheritance:

.. autoclass:: PhysxCollisionCfg
   :show-inheritance:

.. autoclass:: PhysxConvexDecompositionCfg
   :show-inheritance:

.. autoclass:: PhysxConvexHullCfg
   :show-inheritance:

.. autoclass:: PhysxJointCfg
   :show-inheritance:

.. autoclass:: PhysxRigidBodyCfg
   :show-inheritance:

.. autoclass:: PhysxSDFMeshCfg
   :show-inheritance:

.. autoclass:: PhysxTriangleMeshCfg
   :show-inheritance:

.. autoclass:: PhysxTriangleMeshSimplificationCfg
   :show-inheritance:

.. autoclass:: RigidBodyPropertiesCfg
   :show-inheritance:

.. autoclass:: SDFMeshPropertiesCfg
   :show-inheritance:

.. autoclass:: SpatialTendonPropertiesCfg
   :show-inheritance:

.. autoclass:: TriangleMeshPropertiesCfg
   :show-inheritance:

.. autoclass:: TriangleMeshSimplificationPropertiesCfg
   :show-inheritance: