novaphy.ModelWorldRange¶
World-local ranges into the flat arrays stored on a multi-world Model.
Attributes¶
| Attribute | Description |
|---|---|
world |
Logical world index. |
bodies |
Body range. |
shapes |
Collision-shape range. |
joints |
Flat joint range. |
articulations |
Articulation-table range. |
particles |
Particle range. |
joint_coords |
Generalized-position range (joint_q). |
joint_dofs |
Generalized-velocity range (joint_qd). |
joint_constraints |
Flat joint-constraint range. |
equality_constraints |
Equality-constraint range. |
Each range is an IndexRange.