newton.selection.ArticulationView#

class newton.selection.ArticulationView(model, pattern, include_joints=None, exclude_joints=None, include_links=None, exclude_links=None, include_joint_types=None, exclude_joint_types=None, verbose=None)[source]#

Bases: object

ArticulationView provides a flexible interface for selecting and manipulating subsets of articulations and their joints, links, and shapes within a Model. It supports pattern-based selection, inclusion/exclusion filters, and convenient attribute access and modification for simulation and control.

Parameters:

  • model (Model) – The model containing the articulations.

  • pattern (str) – Pattern to match articulation keys.

  • include_joints (list[str | int] | None) – List of joint names, patterns, or indices to include.

  • exclude_joints (list[str | int] | None) – List of joint names, patterns, or indices to exclude.

  • include_links (list[str | int] | None) – List of link names, patterns, or indices to include.

  • exclude_links (list[str | int] | None) – List of link names, patterns, or indices to exclude.

  • include_joint_types (list[int] | None) – List of joint types to include.

  • exclude_joint_types (list[int] | None) – List of joint types to exclude.

  • verbose (bool | None) – If True, prints selection summary.

__init__(model, pattern, include_joints=None, exclude_joints=None, include_links=None, exclude_links=None, include_joint_types=None, exclude_joint_types=None, verbose=None)#
eval_fk(target, mask=None)#

Evaluates forward kinematics given the joint coordinates and updates the body information.

Parameters:

  • target (Model | State) – The target where to evaluate forward kinematics (Model or State).

  • mask (array) – Mask of articulations in this ArticulationView (all by default).

get_attribute(name, source)#

Get an attribute from the source (Model, State, or Control).

Parameters:

  • name (str) – The name of the attribute to get.

  • source (Model | State | Control) – The source from which to get the attribute.

Returns:

The attribute values (dtype matches the attribute).

Return type:

array

get_dof_forces(source)#

Get the joint forces (DoF forces) for the selected articulations.

Parameters:

source (Control) – The source from which to retrieve the DoF forces.

Returns:

The joint forces (dtype=float).

Return type:

array

get_dof_positions(source)#

Get the joint coordinate positions (DoF positions) for the selected articulations.

Parameters:

source (Model | State) – The source from which to retrieve the DoF positions.

Returns:

The joint coordinate positions (dtype=float).

Return type:

array

get_dof_velocities(source)#

Get the joint coordinate velocities (DoF velocities) for the selected articulations.

Parameters:

source (Model | State) – The source from which to retrieve the DoF velocities.

Returns:

The joint coordinate velocities (dtype=float).

Return type:

array

Get the world-space transforms of all links in the selected articulations.

Parameters:

source (Model | State) – The source from which to retrieve the link transforms.

Returns:

The link transforms (dtype=wp.transform).

Return type:

array

Get the world-space spatial velocities of all links in the selected articulations.

Parameters:

source (Model | State) – The source from which to retrieve the link velocities.

Returns:

The link velocities (dtype=wp.spatial_vector).

Return type:

array

get_model_articulation_mask(mask=None)#

Get Model articulation mask from a mask in this ArticulationView.

Parameters:

mask (array) – Mask of articulations in this ArticulationView (all by default).

get_root_transforms(source)#

Get the root transforms of the articulations.

Parameters:

source (Model | State) – Where to get the root transforms (Model or State).

Returns:

The root transforms (dtype=wp.transform).

Return type:

array

get_root_velocities(source)#

Get the root velocities of the articulations.

Parameters:

source (Model | State) – Where to get the root velocities (Model or State).

Returns:

The root velocities (dtype=wp.spatial_vector).

Return type:

array

set_attribute(name, target, values, mask=None)#

Set an attribute in the target (Model, State, or Control).

Parameters:

  • name (str) – The name of the attribute to set.

  • target (Model | State | Control) – The target where to set the attribute.

  • values (array) – The values to set for the attribute.

  • mask (array) – Mask of articulations in this ArticulationView (all by default).

Note

When setting attributes on the Model, it may be necessary to inform the solver about such changes by calling newton.solvers.SolverBase.notify_model_changed() after finished setting Model attributes.

set_dof_forces(target, values, mask=None)#

Set the joint forces (DoF forces) for the selected articulations.

Parameters:

  • target (Control) – The target where to set the DoF forces.

  • values (array) – The values to set (dtype=float).

  • mask (array, optional) – Mask of articulations in this ArticulationView (all by default).

set_dof_positions(target, values, mask=None)#

Set the joint coordinate positions (DoF positions) for the selected articulations.

Parameters:

  • target (Model | State) – The target where to set the DoF positions.

  • values (array) – The values to set (dtype=float).

  • mask (array, optional) – Mask of articulations in this ArticulationView (all by default).

set_dof_velocities(target, values, mask=None)#

Set the joint coordinate velocities (DoF velocities) for the selected articulations.

Parameters:

  • target (Model | State) – The target where to set the DoF velocities.

  • values (array) – The values to set (dtype=float).

  • mask (array, optional) – Mask of articulations in this ArticulationView (all by default).

set_root_transforms(target, values, mask=None)#

Set the root transforms of the articulations. Call eval_fk() to apply changes to all articulation links.

Parameters:

  • target (Model | State) – Where to set the root transforms (Model or State).

  • values (array) – The root transforms to set (dtype=wp.transform).

  • mask (array) – Mask of articulations in this ArticulationView (all by default).

set_root_velocities(target, values, mask=None)#

Set the root velocities of the articulations.

Parameters:

  • target (Model | State) – Where to set the root velocities (Model or State).

  • values (array) – The root velocities to set (dtype=wp.spatial_vector).

  • mask (array) – Mask of articulations in this ArticulationView (all by default).