stillleben.Object class

Methods

def pose(self, /) -> at::Tensor

Pose matrix. This 4x4 matrix transforms object points to global points.

def set_pose(self, pose: at::Tensor) -> None

Pose matrix. This 4x4 matrix transforms object points to global points.

Special methods

def __init__(self, mesh: Mesh, options: dict = {}) -> None

Constructor

Properties

angular_velocity: at::Tensor get set

Angular velocity in rad/s (in global frame).

casts_shadows: bool get set

Enable/disable shadow casting (default True).

density: float get set

Density of the object in kg / m^3.

dynamic_friction: float get set

Dynamic friction coefficient (should be in range 0-1).

inertia: at::Tensor get

Inertia around the axes of the inertial frame (see inertial_frame).

inertial_frame: at::Tensor get

Inertial frame. The center of mass is at the origin in the intertial frame, and its axes are aligned with the principal axes of inertia (see inertia).

instance_index: int get set

Instance index for training semantic segmentation. This is automatically set by Scene.add_object() but can also be set manually. A manual assignment always takes precedence.

linear_velocity: at::Tensor get set

Linear velocity in m/s (in global frame).

linear_velocity_limit: float get set

Linear velocity limit in m/s.

mass: float get set

Mass of the object in kg.

mesh: Mesh get

The associated Mesh instance.

metallic: float get set

Metallic parameter for PBR shading (0-1).

restitution: float get set

Coefficient of restitution. A coefficient of 0 makes the object bounce as little as possible, higher values up to 1.0 result in more bounce.

roughness: float get set

Roughness parameter for PBR shading (0-1).

separation: float get

After physics simulation, this contains the minimum separation of this object to other objects in the scene. If the separation is negative, the two objects intersect.

shininess: float get set

Shininess parameter for Phong shading. Low values result in very spread out specular highlights, high values in very small, sharp highlights. Default value is 80 (pretty sharp).

specular_color: at::Tensor get set

Specular color for Phong shading. This is multiplied with the calculated specular intensity. Set to white for a fully-specular object, set to black for a fully diffuse object.

static: bool get set

If set to true, the object is marked as static for physics simulation. This is a good choice for containers or supporting planes.

static_friction: float get set

Static friction coefficient (should be in range 0-1).

sticker_range: at::Tensor get set

Sticker range.

sticker_rotation: at::Tensor get set

Sticker rotation quaternion.

sticker_texture: Texture get set

Sticker texture.

volume: float get

Volume of the object in m^3.

Method documentation

obj = Object(Mesh("mesh.gltf"))
p = obj.pose()
p[:3,3] = torch.tensor([0, 1, 0])
obj.set_pose(p)

Property documentation