concepts.simulator.sapien2.sapien_utils.load_custom_obj

load_custom_obj(scene, renderer, obj_name, x, y, additional_scale=1.0, additional_rotation_xyzw=None, additional_height=0., actor_name=None, color=None, density=1000, physical_material=None, is_kinematic=False)

Parameters:

• scene (sapien.core.Scene)

• renderer (sapien.core.SapienRenderer)

• obj_name (str)

• x (float)

• y (float)

• additional_scale (float)

• additional_rotation_xyzw (ndarray | None)

• additional_height (float)

• actor_name (str | None)

• color (ndarray)

• density (float)

• physical_material (sapien.core.PhysicalMaterial)

• is_kinematic (bool)

Return type:

tuple[sapien.core.ActorBase, dict]