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Simulo

simulo.Entity

An Entity is any object that can exist within a Scene.

Entities represent presence. They exist in space, have identity, and may have physical state.

Real usage, from the shipped cartpole_eval app — a decorative prop built with the Entity.primitive factory and added to the scene like any other item:

prop = simulo.Entity.primitive.cuboid(
    name="marker_post",
    size=(0.3, 0.3, 0.5),
    pose=simulo.Pose(position=(0.0, 1.5, 0.25)),
    material=simulo.Material.surface(color=(0.2, 0.6, 0.9)),
)
scene.add(prop, at="/World/Prop")

This is equivalent to constructing simulo.Cuboid(...) directly — see simulo.Cuboid.

simulo.Entity(
    name: str,
    pose: Pose = Pose.identity(),
    material: Optional[Material] = None,
    physics: Optional[RigidPhysics | DeformablePhysics] = None,
)

from_asset()

Section titled “from_asset()”
Entity.from_asset(name: str, asset: AssetSource, pose: Optional[Pose] = None) -> AssetEntity

Create an entity from a USD or URDF asset.

Args:

  • name — Entity name
  • asset — Asset specification
  • pose — Pose in space

Returns:

AssetEntity instance