sapien.core package

Submodules

sapien.core.pysapien module

SAPIEN core module

class sapien.core.pysapien.ActiveLightEntity

Bases: sapien.core.pysapien.LightEntity

property fov

property position

set_fov(self: sapien.core.pysapien.ActiveLightEntity, arg0: float) → None

set_position(self: sapien.core.pysapien.ActiveLightEntity, position: numpy.ndarray[numpy.float32]) → None

class sapien.core.pysapien.Actor

Bases: sapien.core.pysapien.ActorDynamicBase

lock_motion(self: sapien.core.pysapien.Actor, x: bool = True, y: bool = True, z: bool = True, rx: bool = True, ry: bool = True, rz: bool = True) → None

pack(self: sapien.core.pysapien.Actor) → List[float]

set_angular_velocity(self: sapien.core.pysapien.Actor, arg0: numpy.ndarray[numpy.float32]) → None

set_pose(self: sapien.core.pysapien.Actor, pose: sapien.core.pysapien.Pose) → None

set_solver_iterations(self: sapien.core.pysapien.Actor, position: int, velocity: int = 1) → None

set_velocity(self: sapien.core.pysapien.Actor, arg0: numpy.ndarray[numpy.float32]) → None

unpack(self: sapien.core.pysapien.Actor, arg0: numpy.ndarray[numpy.float32]) → None

class sapien.core.pysapien.ActorBase

Bases: sapien.core.pysapien.Entity

get_builder(self: sapien.core.pysapien.ActorBase) → sapien.core.pysapien.ActorBuilder

get_collision_shapes(self: sapien.core.pysapien.ActorBase) → List[sapien.core.pysapien.CollisionShape]

get_collision_visual_bodies(self: sapien.core.pysapien.ActorBase) → List[sapien.core.pysapien.RenderBody]

get_id(self: sapien.core.pysapien.ActorBase) → int

get_scene(self: sapien.core.pysapien.ActorBase) → sapien.core.pysapien.Scene

get_visual_bodies(self: sapien.core.pysapien.ActorBase) → List[sapien.core.pysapien.RenderBody]

hide_visual(self: sapien.core.pysapien.ActorBase) → None

property id

is_hiding_visual(self: sapien.core.pysapien.ActorBase) → bool

on_contact(self: sapien.core.pysapien.ActorBase, func: Callable[[sapien.core.pysapien.ActorBase, sapien.core.pysapien.ActorBase, sapien.core.pysapien.Contact], None]) → None

on_step(self: sapien.core.pysapien.ActorBase, func: Callable[[sapien.core.pysapien.ActorBase, float], None]) → None

on_trigger(self: sapien.core.pysapien.ActorBase, func: Callable[[sapien.core.pysapien.ActorBase, sapien.core.pysapien.ActorBase, sapien.core.pysapien.Trigger], None]) → None

render_collision(self: sapien.core.pysapien.ActorBase, render: bool = True) → None

property type

One of “static”, “kinematic”, “dynamic”, “link”, “kinematic_link”

unhide_visual(self: sapien.core.pysapien.ActorBase) → None

class sapien.core.pysapien.ActorBuilder

Bases: pybind11_builtins.pybind11_object

add_box_collision(self: sapien.core.pysapien.ActorBuilder, pose: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), half_size: numpy.ndarray[numpy.float32] = array([1.0, 1.0, 1.0], dtype=float32), material: sapien.core.pysapien.PhysicalMaterial = None, density: float = 1000, patch_radius: float = 0.0, min_patch_radius: float = 0.0, is_trigger: bool = False) → None

add_box_visual(*args, **kwargs)

Overloaded function.

1. add_box_visual(self: sapien.core.pysapien.ActorBuilder, pose: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), half_size: numpy.ndarray[numpy.float32] = array([1., 1., 1.], dtype=float32), color: numpy.ndarray[numpy.float32] = array([1., 1., 1.], dtype=float32), name: str = ‘’) -> None

2. add_box_visual(self: sapien.core.pysapien.ActorBuilder, pose: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), half_size: numpy.ndarray[numpy.float32] = array([1., 1., 1.], dtype=float32), material: sapien.core.pysapien.RenderMaterial = None, name: str = ‘’) -> None

add_capsule_collision(self: sapien.core.pysapien.ActorBuilder, pose: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), radius: float = 1, half_length: float = 1, material: sapien.core.pysapien.PhysicalMaterial = None, density: float = 1000, patch_radius: float = 0.0, min_patch_radius: float = 0.0, is_trigger: bool = False) → None

Add a capsule collision shape. The height is along the x-axis.

add_capsule_visual(*args, **kwargs)

Overloaded function.

1. add_capsule_visual(self: sapien.core.pysapien.ActorBuilder, pose: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), radius: float = 1, half_length: float = 1, color: numpy.ndarray[numpy.float32] = array([1., 1., 1.], dtype=float32), name: str = ‘’) -> None

Add a capsule visual shape. The height is along the x-axis.

2. add_capsule_visual(self: sapien.core.pysapien.ActorBuilder, pose: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), radius: float = 1, half_length: float = 1, material: sapien.core.pysapien.RenderMaterial = None, name: str = ‘’) -> None

Add a capsule visual shape. The height is along the x-axis.

add_collision_from_file(self: sapien.core.pysapien.ActorBuilder, filename: str, pose: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), scale: numpy.ndarray[numpy.float32] = array([1.0, 1.0, 1.0], dtype=float32), material: sapien.core.pysapien.PhysicalMaterial = None, density: float = 1000, patch_radius: float = 0.0, min_patch_radius: float = 0.0, is_trigger: bool = False) → None

Add a collision shape from file (see assimp for supported formats). If the shape in the file is not convex, it will be converted by the PhysX backend.

add_multiple_collisions_from_file(self: sapien.core.pysapien.ActorBuilder, filename: str, pose: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), scale: numpy.ndarray[numpy.float32] = array([1.0, 1.0, 1.0], dtype=float32), material: sapien.core.pysapien.PhysicalMaterial = None, density: float = 1000, patch_radius: float = 0.0, min_patch_radius: float = 0.0, is_trigger: bool = False) → None

Add multiple collisions shapes from files. Also see @add_collision_from_file. Different from @add_collision_from_file, all connected components in the file will be converted to be convex.

add_nonconvex_collision_from_file(self: sapien.core.pysapien.ActorBuilder, filename: str, pose: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), scale: numpy.ndarray[numpy.float32] = array([1.0, 1.0, 1.0], dtype=float32), material: sapien.core.pysapien.PhysicalMaterial = None, patch_radius: float = 0.0, min_patch_radius: float = 0.0, is_trigger: bool = False) → None

Add a nonconvex collision shape from a file. If it is not a trigger, then it is only valid for static and kinematic actors.

add_sphere_collision(self: sapien.core.pysapien.ActorBuilder, pose: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), radius: float = 1, material: sapien.core.pysapien.PhysicalMaterial = None, density: float = 1000, patch_radius: float = 0.0, min_patch_radius: float = 0.0, is_trigger: bool = False) → None

add_sphere_visual(*args, **kwargs)

Overloaded function.

1. add_sphere_visual(self: sapien.core.pysapien.ActorBuilder, pose: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), radius: float = 1, color: numpy.ndarray[numpy.float32] = array([1., 1., 1.], dtype=float32), name: str = ‘’) -> None

2. add_sphere_visual(self: sapien.core.pysapien.ActorBuilder, pose: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), radius: float = 1, material: sapien.core.pysapien.RenderMaterial = None, name: str = ‘’) -> None

add_visual_from_file(self: sapien.core.pysapien.ActorBuilder, filename: str, pose: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), scale: numpy.ndarray[numpy.float32] = array([1.0, 1.0, 1.0], dtype=float32), material: sapien.core.pysapien.RenderMaterial = None, name: str = '') → None

build(self: sapien.core.pysapien.ActorBuilder, name: str = '') → sapien.core.pysapien.Actor

build_kinematic(self: sapien.core.pysapien.ActorBuilder, name: str = '') → sapien.core.pysapien.Actor

build_static(self: sapien.core.pysapien.ActorBuilder, name: str = '') → sapien.core.pysapien.ActorStatic

get_collisions(self: sapien.core.pysapien.ActorBuilder) → List[sapien.core.pysapien.ShapeRecord]

get_visuals(self: sapien.core.pysapien.ActorBuilder) → List[sapien.core.pysapien.VisualRecord]

remove_all_collisions(self: sapien.core.pysapien.ActorBuilder) → None

remove_all_visuals(self: sapien.core.pysapien.ActorBuilder) → None

remove_collision_at(self: sapien.core.pysapien.ActorBuilder, index: int) → None

remove_visual_at(self: sapien.core.pysapien.ActorBuilder, index: int) → None

reset_collision_groups(self: sapien.core.pysapien.ActorBuilder) → None

set_collision_groups(self: sapien.core.pysapien.ActorBuilder, group0: int, group1: int, group2: int, group3: int) → None

see CollisionShape.set_collision_groups

set_mass_and_inertia(self: sapien.core.pysapien.ActorBuilder, mass: float, inertia_pose: sapien.core.pysapien.Pose, inertia: numpy.ndarray[numpy.float32]) → None

Set the mass and inertia.

Args:

mass: the (scalar) mass of the actor inertia_pose:

the position is the center of mass; the rotation (quaternion) is the principle axis of inertia, relative to actor frame

inertia: principle moments of inertia (a 3D vector)

References:

https://en.wikipedia.org/wiki/Moment_of_inertia#Principal_axes

set_scene(self: sapien.core.pysapien.ActorBuilder, arg0: sapien.core.pysapien.Scene) → None

class sapien.core.pysapien.ActorDynamicBase

Bases: sapien.core.pysapien.ActorBase

add_force_at_point(self: sapien.core.pysapien.ActorDynamicBase, force: numpy.ndarray[numpy.float32], point: numpy.ndarray[numpy.float32]) → None

add_force_torque(self: sapien.core.pysapien.ActorDynamicBase, force: numpy.ndarray[numpy.float32], torque: numpy.ndarray[numpy.float32]) → None

property angular_velocity

property cmass_local_pose

get_angular_velocity(self: sapien.core.pysapien.ActorDynamicBase) → numpy.ndarray[numpy.float32]

get_cmass_local_pose(self: sapien.core.pysapien.ActorDynamicBase) → sapien.core.pysapien.Pose

get_inertia(self: sapien.core.pysapien.ActorDynamicBase) → numpy.ndarray[numpy.float32]

get_mass(self: sapien.core.pysapien.ActorDynamicBase) → float

get_velocity(self: sapien.core.pysapien.ActorDynamicBase) → numpy.ndarray[numpy.float32]

property inertia

property mass

set_damping(self: sapien.core.pysapien.ActorDynamicBase, linear: float, angular: float) → None

property velocity

class sapien.core.pysapien.ActorStatic

Bases: sapien.core.pysapien.ActorBase

pack(self: sapien.core.pysapien.ActorStatic) → List[float]

set_pose(self: sapien.core.pysapien.ActorStatic, pose: sapien.core.pysapien.Pose) → None

unpack(self: sapien.core.pysapien.ActorStatic, arg0: numpy.ndarray[numpy.float32]) → None

class sapien.core.pysapien.Articulation

Bases: sapien.core.pysapien.ArticulationDrivable

compute_adjoint_matrix(self: sapien.core.pysapien.Articulation, source_link_ik: int, target_link_id: int) → numpy.ndarray[numpy.float32[6, 6]]

compute_cartesian_diff_ik(self: sapien.core.pysapien.Articulation, world_velocity: numpy.ndarray[numpy.float32[6, 1]], commanded_link_id: int, active_joint_ids: List[int] = []) → numpy.ndarray[numpy.float32[m, 1]]

compute_forward_dynamics(self: sapien.core.pysapien.Articulation, arg0: numpy.ndarray[numpy.float32]) → numpy.ndarray[numpy.float32]

compute_inverse_dynamics(self: sapien.core.pysapien.Articulation, arg0: numpy.ndarray[numpy.float32]) → numpy.ndarray[numpy.float32]

compute_manipulator_inertia_matrix(self: sapien.core.pysapien.Articulation) → numpy.ndarray[numpy.float32[m, n]]

compute_passive_force(self: sapien.core.pysapien.Articulation, gravity: bool = True, coriolis_and_centrifugal: bool = True, external: bool = True) → numpy.ndarray[numpy.float32]

compute_spatial_twist_jacobian(self: sapien.core.pysapien.Articulation) → numpy.ndarray[numpy.float32[m, n]]

compute_transformation_matrix(self: sapien.core.pysapien.Articulation, source_link_id: int, target_link_id: int) → numpy.ndarray[numpy.float32[4, 4]]

compute_twist_diff_ik(self: sapien.core.pysapien.Articulation, spatial_twist: numpy.ndarray[numpy.float32[6, 1]], commanded_link_id: int, active_joint_ids: List[int] = []) → numpy.ndarray[numpy.float32[m, 1]]

compute_world_cartesian_jacobian(self: sapien.core.pysapien.Articulation) → numpy.ndarray[numpy.float32[m, n]]

get_active_joints(self: sapien.core.pysapien.Articulation) → List[sapien.core.pysapien.Joint]

get_drive_velocity_target(self: sapien.core.pysapien.Articulation) → numpy.ndarray[numpy.float32]

pack(self: sapien.core.pysapien.Articulation) → List[float]

set_drive_velocity_target(self: sapien.core.pysapien.Articulation, drive_velocity_target: numpy.ndarray[numpy.float32]) → None

set_root_angular_velocity(self: sapien.core.pysapien.Articulation, vel: numpy.ndarray[numpy.float32]) → None

set_root_velocity(self: sapien.core.pysapien.Articulation, vel: numpy.ndarray[numpy.float32]) → None

unpack(self: sapien.core.pysapien.Articulation, arg0: numpy.ndarray[numpy.float32]) → None

class sapien.core.pysapien.ArticulationBase

Bases: sapien.core.pysapien.Entity

create_pinocchio_model(self: sapien.core.pysapien.ArticulationBase) → sapien.core.pysapien.PinocchioModel

Create the kinematic and dynamic model of this articulation implemented by the Pinocchio library. Allowing computing forward/inverse kinematics/dynamics.

property dof

export_urdf(self: sapien.core.pysapien.ArticulationBase, cache_dir: str = '') → str

get_builder(self: sapien.core.pysapien.ArticulationBase) → sapien.core.pysapien.ArticulationBuilder

get_joints(self: sapien.core.pysapien.ArticulationBase) → List[sapien.core.pysapien.JointBase]

get_links(self: sapien.core.pysapien.ArticulationBase) → List[sapien.core.pysapien.LinkBase]

get_qacc(self: sapien.core.pysapien.ArticulationBase) → numpy.ndarray[numpy.float32]

get_qf(self: sapien.core.pysapien.ArticulationBase) → numpy.ndarray[numpy.float32]

get_qlimits(self: sapien.core.pysapien.ArticulationBase) → numpy.ndarray[numpy.float32]

get_qpos(self: sapien.core.pysapien.ArticulationBase) → numpy.ndarray[numpy.float32]

get_qvel(self: sapien.core.pysapien.ArticulationBase) → numpy.ndarray[numpy.float32]

get_root_pose(self: sapien.core.pysapien.ArticulationBase) → sapien.core.pysapien.Pose

set_pose(self: sapien.core.pysapien.ArticulationBase, pose: sapien.core.pysapien.Pose) → None

same as set_root_pose

set_qacc(self: sapien.core.pysapien.ArticulationBase, qacc: numpy.ndarray[numpy.float32]) → None

set_qf(self: sapien.core.pysapien.ArticulationBase, qf: numpy.ndarray[numpy.float32]) → None

set_qlimits(self: sapien.core.pysapien.ArticulationBase, qlimits: numpy.ndarray[numpy.float32]) → None

set_qpos(self: sapien.core.pysapien.ArticulationBase, qpos: numpy.ndarray[numpy.float32]) → None

set_qvel(self: sapien.core.pysapien.ArticulationBase, qvel: numpy.ndarray[numpy.float32]) → None

set_root_pose(self: sapien.core.pysapien.ArticulationBase, pose: sapien.core.pysapien.Pose) → None

property type

class sapien.core.pysapien.ArticulationBuilder

Bases: pybind11_builtins.pybind11_object

build(self: sapien.core.pysapien.ArticulationBuilder, fix_root_link: bool = False) → sapien.core.pysapien.Articulation

build_kinematic(self: sapien.core.pysapien.ArticulationBuilder) → sapien.core.pysapien.KinematicArticulation

create_link_builder(self: sapien.core.pysapien.ArticulationBuilder, parent: sapien.core.pysapien.LinkBuilder = None) → sapien.core.pysapien.LinkBuilder

get_link_builders(self: sapien.core.pysapien.ArticulationBuilder) → List[sapien.core.pysapien.LinkBuilder]

get_scene(self: sapien.core.pysapien.ArticulationBuilder) → sapien.core.pysapien.Scene

set_scene(self: sapien.core.pysapien.ArticulationBuilder, scene: sapien.core.pysapien.Scene) → None

class sapien.core.pysapien.ArticulationDrivable

Bases: sapien.core.pysapien.ArticulationBase

get_drive_target(self: sapien.core.pysapien.ArticulationDrivable) → numpy.ndarray[numpy.float32]

set_drive_target(self: sapien.core.pysapien.ArticulationDrivable, drive_target: numpy.ndarray[numpy.float32]) → None

class sapien.core.pysapien.BoxGeometry

Bases: sapien.core.pysapien.CollisionGeometry

property half_lengths

class sapien.core.pysapien.CameraEntity

Bases: sapien.core.pysapien.Entity

property cx

property cy

property far

property fovx

property fovy

property fx

property fy

get_albedo_rgba(self: sapien.core.pysapien.CameraEntity) → numpy.ndarray[numpy.float32]

get_camera_matrix(self: sapien.core.pysapien.CameraEntity) → numpy.ndarray[numpy.float32]

Get intrinsic camera matrix in OpenCV format.

get_color_rgba(self: sapien.core.pysapien.CameraEntity) → numpy.ndarray[numpy.float32]

get_dl_tensor(self: sapien.core.pysapien.CameraEntity, texture_name: str) → capsule

Get raw GPU memory for a render target in the dl format. It can be wrapped into PyTorch or Tensorflow using their API

get_float_texture(self: sapien.core.pysapien.CameraEntity, texture_name: str) → numpy.ndarray[numpy.float32]

get_model_matrix(self: sapien.core.pysapien.CameraEntity) → numpy.ndarray[numpy.float32]

Get model matrix (inverse of extrinsic matrix) used in rendering (Y up, Z back)

get_normal_rgba(self: sapien.core.pysapien.CameraEntity) → numpy.ndarray[numpy.float32]

get_position_rgba(self: sapien.core.pysapien.CameraEntity) → numpy.ndarray[numpy.float32]

get_projection_matrix(self: sapien.core.pysapien.CameraEntity) → numpy.ndarray[numpy.float32]

Get projection matrix in used in rendering (right-handed NDC with [-1,1] XY and [0,1] Z)

get_uint32_texture(self: sapien.core.pysapien.CameraEntity, texture_name: str) → numpy.ndarray[numpy.uint32]

get_visual_actor_segmentation(self: sapien.core.pysapien.CameraEntity) → numpy.ndarray[numpy.uint32]

property height

property local_pose

property near

property parent

set_focal_lengths(self: sapien.core.pysapien.CameraEntity, fx: float, fy: float) → None

set_fovx(self: sapien.core.pysapien.CameraEntity, fov: float, compute_y: bool = True) → None

set_fovy(self: sapien.core.pysapien.CameraEntity, fov: float, compute_x: bool = True) → None

set_local_pose(self: sapien.core.pysapien.CameraEntity, pose: sapien.core.pysapien.Pose) → None

set_parent(self: sapien.core.pysapien.CameraEntity, parent: sapien.core.pysapien.ActorBase, keep_pose: bool) → None

set_perspective_parameters(self: sapien.core.pysapien.CameraEntity, near: float, far: float, fx: float, fy: float, cx: float, cy: float, skew: float) → None

set_principal_point(self: sapien.core.pysapien.CameraEntity, cx: float, cy: float) → None

property skew

take_picture(self: sapien.core.pysapien.CameraEntity) → None

property width

class sapien.core.pysapien.CapsuleGeometry

Bases: sapien.core.pysapien.CollisionGeometry

property half_length

property radius

class sapien.core.pysapien.CollisionGeometry

Bases: pybind11_builtins.pybind11_object

class sapien.core.pysapien.CollisionShape

Bases: pybind11_builtins.pybind11_object

property actor

property contact_offset

property geometry

get_collision_groups(self: sapien.core.pysapien.CollisionShape) → List[int[4]]

get_local_pose(self: sapien.core.pysapien.CollisionShape) → sapien.core.pysapien.Pose

get_physical_material(self: sapien.core.pysapien.CollisionShape) → sapien.core.pysapien.PhysicalMaterial

property is_trigger

property min_patch_radius

property patch_radius

property rest_offset

set_collision_groups(self: sapien.core.pysapien.CollisionShape, group0: int, group1: int, group2: int, group3: int) → None

collision groups determine the collision behavior of objects. Let A.gx denote the collision group x of collision shape A. Collision shape A and B will collide iff the following condition holds:

((A.g0 & B.g1) or (A.g1 & B.g0)) and (not ((A.g2 & B.g2) and ((A.g3 & 0xffff) == (B.g3 & 0xffff))))

Here is some explanation: g2 is the “ignore group” and g3 is the “id group”. The only the lower 16 bits of the id group is used since the upper 16 bits are reserved for other purposes in the future. When 2 collision shapes have the same ID (g3), then if any of their g2 bits match, their collisions are definitely ignored.

If after testing g2 and g3, the objects may collide, g0 and g1 come into play. g0 is the “contact type group” and g1 is the “contact affinity group”. Collision shapes collide only when a bit in the contact type of the first shape matches a bit in the contact affinity of the second shape.

set_local_pose(self: sapien.core.pysapien.CollisionShape, pose: sapien.core.pysapien.Pose) → None

set_physical_material(self: sapien.core.pysapien.CollisionShape, material: sapien.core.pysapien.PhysicalMaterial) → None

property type

class sapien.core.pysapien.Constraint

Bases: pybind11_builtins.pybind11_object

class sapien.core.pysapien.Contact

Bases: pybind11_builtins.pybind11_object

property actor0

property actor1

property collision_shape0

property collision_shape1

property ends

property persists

property points

property starts

class sapien.core.pysapien.ContactPoint

Bases: pybind11_builtins.pybind11_object

property impulse

property normal

property position

property separation

class sapien.core.pysapien.ConvexMeshGeometry

Bases: sapien.core.pysapien.CollisionGeometry

property indices

property rotation

property scale

property vertices

class sapien.core.pysapien.DirectionalLightEntity

Bases: sapien.core.pysapien.LightEntity

property direction

set_direction(self: sapien.core.pysapien.DirectionalLightEntity, direction: numpy.ndarray[numpy.float32]) → None

set_shadow_parameters(self: sapien.core.pysapien.DirectionalLightEntity, half_size: float, near: float, far: float) → None

property shadow_far

property shadow_half_size

property shadow_near

class sapien.core.pysapien.Drive

Bases: sapien.core.pysapien.Constraint

free_motion(self: sapien.core.pysapien.Drive, tx: bool, ty: bool, tz: bool, rx: bool, ry: bool, rz: bool) → None

lock_motion(self: sapien.core.pysapien.Drive, tx: bool, ty: bool, tz: bool, rx: bool, ry: bool, rz: bool) → None

set_distance_limit(self: sapien.core.pysapien.Drive, distance: float) → None

set_slerp_properties(self: sapien.core.pysapien.Drive, stiffness: float, damping: float, force_limit: float = 3.4028234663852886e+38, is_acceleration: bool = True) → None

set_target(self: sapien.core.pysapien.Drive, pose: sapien.core.pysapien.Pose) → None

set_target_velocity(self: sapien.core.pysapien.Drive, linear: numpy.ndarray[numpy.float32], angular: numpy.ndarray[numpy.float32]) → None

set_x_limit(self: sapien.core.pysapien.Drive, low: float, high: float) → None

set_x_properties(self: sapien.core.pysapien.Drive, stiffness: float, damping: float, force_limit: float = 3.4028234663852886e+38, is_acceleration: bool = True) → None

set_x_twist_limit(self: sapien.core.pysapien.Drive, low: float, high: float) → None

set_x_twist_properties(self: sapien.core.pysapien.Drive, stiffness: float, damping: float, force_limit: float = 3.4028234663852886e+38, is_acceleration: bool = True) → None

set_y_limit(self: sapien.core.pysapien.Drive, low: float, high: float) → None

set_y_properties(self: sapien.core.pysapien.Drive, stiffness: float, damping: float, force_limit: float = 3.4028234663852886e+38, is_acceleration: bool = True) → None

set_yz_cone_limit(self: sapien.core.pysapien.Drive, y: float, z: float) → None

set_yz_pyramid_limit(self: sapien.core.pysapien.Drive, ylow: float, yhigh: float, zlow: float, zhigh: float) → None

set_yz_swing_properties(self: sapien.core.pysapien.Drive, stiffness: float, damping: float, force_limit: float = 3.4028234663852886e+38, is_acceleration: bool = True) → None

set_z_limit(self: sapien.core.pysapien.Drive, low: float, high: float) → None

set_z_properties(self: sapien.core.pysapien.Drive, stiffness: float, damping: float, force_limit: float = 3.4028234663852886e+38, is_acceleration: bool = True) → None

class sapien.core.pysapien.Engine

Bases: pybind11_builtins.pybind11_object

create_physical_material(self: sapien.core.pysapien.Engine, static_friction: float, dynamic_friction: float, restitution: float) → sapien.core.pysapien.PhysicalMaterial

create_scene(self: sapien.core.pysapien.Engine, config: sapien.core.pysapien.SceneConfig = SceneConfig()) → sapien.core.pysapien.Scene

get_renderer(self: sapien.core.pysapien.Engine) → sapien.core.pysapien.IPxrRenderer

property renderer

set_log_level(self: sapien.core.pysapien.Engine, level: str) → None

set_renderer(self: sapien.core.pysapien.Engine, renderer: sapien.core.pysapien.IPxrRenderer) → None

class sapien.core.pysapien.Entity

Bases: pybind11_builtins.pybind11_object

property classname

get_name(self: sapien.core.pysapien.Entity) → str

get_pose(self: sapien.core.pysapien.Entity) → sapien.core.pysapien.Pose

property name

property pose

set_name(self: sapien.core.pysapien.Entity, name: str) → None

class sapien.core.pysapien.IPxrRenderer

Bases: pybind11_builtins.pybind11_object

create_material(self: sapien.core.pysapien.IPxrRenderer) → sapien.core.pysapien.RenderMaterial

create_texture_from_file(self: sapien.core.pysapien.IPxrRenderer, filename: str, mipmap_levels: int = 1, filter_mode: str = 'linear', address_mode: str = 'repeat') → None

class sapien.core.pysapien.Joint

Bases: sapien.core.pysapien.JointBase

property damping

property drive_mode

property force_limit

property friction

get_drive_target(self: sapien.core.pysapien.Joint) → float

get_drive_velocity_target(self: sapien.core.pysapien.Joint) → float

get_global_pose(self: sapien.core.pysapien.Joint) → sapien.core.pysapien.Pose

set_drive_property(self: sapien.core.pysapien.Joint, stiffness: float, damping: float, force_limit: float = 3.4028234663852886e+38, mode: str = 'force') → None

set_drive_target(self: sapien.core.pysapien.Joint, target: float) → None

set_drive_velocity_target(self: sapien.core.pysapien.Joint, velocity: float) → None

set_friction(self: sapien.core.pysapien.Joint, friction: float) → None

property stiffness

class sapien.core.pysapien.JointBase

Bases: pybind11_builtins.pybind11_object

property articulation

get_child_link(self: sapien.core.pysapien.JointBase) → sapien.core.pysapien.LinkBase

get_dof(self: sapien.core.pysapien.JointBase) → int

get_limits(self: sapien.core.pysapien.JointBase) → numpy.ndarray[numpy.float32]

get_name(self: sapien.core.pysapien.JointBase) → str

get_parent_link(self: sapien.core.pysapien.JointBase) → sapien.core.pysapien.LinkBase

get_pose_in_child(self: sapien.core.pysapien.JointBase) → sapien.core.pysapien.Pose

get_pose_in_parent(self: sapien.core.pysapien.JointBase) → sapien.core.pysapien.Pose

property name

set_limits(self: sapien.core.pysapien.JointBase, limits: numpy.ndarray[numpy.float32]) → None

set_name(self: sapien.core.pysapien.JointBase, name: str) → None

property type

class sapien.core.pysapien.JointRecord

Bases: pybind11_builtins.pybind11_object

property damping

property friction

property joint_type

property limits

property name

property pose_in_child

property pose_in_parent

class sapien.core.pysapien.KinematicArticulation

Bases: sapien.core.pysapien.ArticulationDrivable

class sapien.core.pysapien.KinematicJoint

Bases: sapien.core.pysapien.JointBase

class sapien.core.pysapien.KinematicJointFixed

Bases: sapien.core.pysapien.KinematicJoint

class sapien.core.pysapien.KinematicJointPrismatic

Bases: sapien.core.pysapien.KinematicJointSingleDof

class sapien.core.pysapien.KinematicJointRevolute

Bases: sapien.core.pysapien.KinematicJointSingleDof

class sapien.core.pysapien.KinematicJointSingleDof

Bases: sapien.core.pysapien.KinematicJoint

class sapien.core.pysapien.KinematicLink

Bases: sapien.core.pysapien.LinkBase

get_articulation(self: sapien.core.pysapien.KinematicLink) → sapien.core.pysapien.KinematicArticulation

class sapien.core.pysapien.KuafuConfig

Bases: pybind11_builtins.pybind11_object

property accumulate_frames

property assets_path

property max_bounces

property max_geometries

property max_geometry_instances

property max_materials

property max_textures

property spp

property use_denoiser

property use_viewer

property viewer_height

property viewer_width

class sapien.core.pysapien.KuafuRenderer

Bases: sapien.core.pysapien.IPxrRenderer

property is_running

static set_log_level(level: str) → None

class sapien.core.pysapien.LightEntity

Bases: sapien.core.pysapien.Entity

property color

property pose

set_color(self: sapien.core.pysapien.LightEntity, color: numpy.ndarray[numpy.float32]) → None

set_pose(self: sapien.core.pysapien.LightEntity, pose: sapien.core.pysapien.Pose) → None

property shadow

class sapien.core.pysapien.Link

Bases: sapien.core.pysapien.LinkBase

get_articulation(self: sapien.core.pysapien.Link) → sapien.core.pysapien.Articulation

class sapien.core.pysapien.LinkBase

Bases: sapien.core.pysapien.ActorDynamicBase

get_articulation(self: sapien.core.pysapien.LinkBase) → sapien.core.pysapien.ArticulationBase

get_index(self: sapien.core.pysapien.LinkBase) → int

class sapien.core.pysapien.LinkBuilder

Bases: sapien.core.pysapien.ActorBuilder

get_index(self: sapien.core.pysapien.LinkBuilder) → int

get_joint(self: sapien.core.pysapien.LinkBuilder) → sapien.core.pysapien.JointRecord

get_name(self: sapien.core.pysapien.LinkBuilder) → str

get_parent(self: sapien.core.pysapien.LinkBuilder) → int

set_joint_name(self: sapien.core.pysapien.LinkBuilder, arg0: str) → None

set_joint_properties(self: sapien.core.pysapien.LinkBuilder, joint_type: str, limits: numpy.ndarray[numpy.float32], pose_in_parent: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), pose_in_child: sapien.core.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), friction: float = 0, damping: float = 0) → None

Set the properties of the joint.

Args:

joint_type: [“revolute”, “prismatic”, “fixed”] limits: [[min1, max1], …], the length is the DoF pose_in_parent: joint pose in parent frame.

The x-axis is the rotation axis for revolute, or the translation axis for prismatic.

pose_in_child: joint pose in child frame. See also @pose_in_parent. friction: joint friction damping: joint damping

set_name(self: sapien.core.pysapien.LinkBuilder, arg0: str) → None

set_parent(self: sapien.core.pysapien.LinkBuilder, arg0: int) → None

class sapien.core.pysapien.NonconvexMeshGeometry

Bases: sapien.core.pysapien.CollisionGeometry

property indices

property rotation

property scale

property vertices

class sapien.core.pysapien.PhysicalMaterial

Bases: pybind11_builtins.pybind11_object

property dynamic_friction

get_dynamic_friction(self: sapien.core.pysapien.PhysicalMaterial) → float

get_restitution(self: sapien.core.pysapien.PhysicalMaterial) → float

get_static_friction(self: sapien.core.pysapien.PhysicalMaterial) → float

property restitution

set_dynamic_friction(self: sapien.core.pysapien.PhysicalMaterial, coef: float) → None

set_restitution(self: sapien.core.pysapien.PhysicalMaterial, coef: float) → None

set_static_friction(self: sapien.core.pysapien.PhysicalMaterial, coef: float) → None

property static_friction

class sapien.core.pysapien.PinocchioModel

Bases: pybind11_builtins.pybind11_object

compute_coriolis_matrix(self: sapien.core.pysapien.PinocchioModel, qpos: numpy.ndarray[numpy.float64[m, 1]], qvel: numpy.ndarray[numpy.float64[m, 1]]) → numpy.ndarray[numpy.float64[m, n]]

compute_forward_dynamics(self: sapien.core.pysapien.PinocchioModel, qpos: numpy.ndarray[numpy.float64[m, 1]], qvel: numpy.ndarray[numpy.float64[m, 1]], qf: numpy.ndarray[numpy.float64[m, 1]]) → numpy.ndarray[numpy.float64[m, 1]]

compute_forward_kinematics(self: sapien.core.pysapien.PinocchioModel, qpos: numpy.ndarray[numpy.float64[m, 1]]) → None

Compute and cache forward kinematics. After computation, use get_link_pose to retrieve the computed pose for a specific link.

compute_full_jacobian(self: sapien.core.pysapien.PinocchioModel, qpos: numpy.ndarray[numpy.float64[m, 1]]) → None

Compute and cache Jacobian for all links

compute_generalized_mass_matrix(self: sapien.core.pysapien.PinocchioModel, qpos: numpy.ndarray[numpy.float64[m, 1]]) → numpy.ndarray[numpy.float64[m, n]]

compute_inverse_dynamics(self: sapien.core.pysapien.PinocchioModel, qpos: numpy.ndarray[numpy.float64[m, 1]], qvel: numpy.ndarray[numpy.float64[m, 1]], qacc: numpy.ndarray[numpy.float64[m, 1]]) → numpy.ndarray[numpy.float64[m, 1]]

compute_inverse_kinematics(self: sapien.core.pysapien.PinocchioModel, link_index: int, pose: sapien.core.pysapien.Pose, initial_qpos: numpy.ndarray[numpy.float64[m, 1]] = array([], dtype=float64), active_qmask: numpy.ndarray[numpy.int32[m, 1]] = array([], dtype=int32), eps: float = 0.0001, max_iterations: int = 1000, dt: float = 0.1, damp: float = 1e-06) → Tuple[numpy.ndarray[numpy.float64[m, 1]], bool, numpy.ndarray[numpy.float64[6, 1]]]

Compute inverse kinematics with CLIK algorithm. Details see https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/md_doc_b-examples_i-inverse-kinematics.html

compute_single_link_local_jacobian(self: sapien.core.pysapien.PinocchioModel, qpos: numpy.ndarray[numpy.float64[m, 1]], link_index: int) → numpy.ndarray[numpy.float64[6, n]]

Compute the link(body) Jacobian for a single link. It is faster than compute_full_jacobian followed by get_link_jacobian

get_link_jacobian(self: sapien.core.pysapien.PinocchioModel, link_index: int, local: bool = False) → numpy.ndarray[numpy.float64[6, n]]

Given link index, get the Jacobian. Must be called after compute_full_jacobian.

Args:

link_index: index of the link local: True for world(spatial) frame; False for link(body) frame

get_link_pose(self: sapien.core.pysapien.PinocchioModel, link_index: int) → sapien.core.pysapien.Pose

Given link index, get link pose from forward kinematics. Must be called after compute_forward_kinematics.

class sapien.core.pysapien.PlaneGeometry

Bases: sapien.core.pysapien.CollisionGeometry

class sapien.core.pysapien.PointLightEntity

Bases: sapien.core.pysapien.LightEntity

property position

set_position(self: sapien.core.pysapien.PointLightEntity, position: numpy.ndarray[numpy.float32]) → None

set_shadow_parameters(self: sapien.core.pysapien.PointLightEntity, near: float, far: float) → None

property shadow_far

property shadow_near

class sapien.core.pysapien.Pose

Bases: pybind11_builtins.pybind11_object

static from_transformation_matrix(mat44: numpy.ndarray[numpy.float32]) → sapien.core.pysapien.Pose

inv(self: sapien.core.pysapien.Pose) → sapien.core.pysapien.Pose

property p

property q

set_p(self: sapien.core.pysapien.Pose, p: numpy.ndarray[numpy.float32]) → None

set_q(self: sapien.core.pysapien.Pose, q: numpy.ndarray[numpy.float32]) → None

set_rotation(self: sapien.core.pysapien.Pose, arg0: numpy.ndarray[numpy.float32]) → None

to_transformation_matrix(self: sapien.core.pysapien.Pose) → numpy.ndarray[numpy.float32[4, 4]]

transform(self: sapien.core.pysapien.Pose, arg0: sapien.core.pysapien.Pose) → sapien.core.pysapien.Pose

class sapien.core.pysapien.RenderBody

Bases: pybind11_builtins.pybind11_object

property actor_id

get_actor_id(self: sapien.core.pysapien.RenderBody) → int

get_name(self: sapien.core.pysapien.RenderBody) → str

get_render_shapes(self: sapien.core.pysapien.RenderBody) → List[sapien.core.pysapien.RenderShape]

get_visual_id(self: sapien.core.pysapien.RenderBody) → int

property half_length

property half_lengths

property local_pose

property name

property radius

property scale

set_custom_data(self: sapien.core.pysapien.RenderBody, custom_data: List[float]) → None

set_name(self: sapien.core.pysapien.RenderBody, name: str) → None

set_pose(self: sapien.core.pysapien.RenderBody, pose: sapien.core.pysapien.Pose) → None

set_visibility(self: sapien.core.pysapien.RenderBody, visibility: float) → None

set_visible(self: sapien.core.pysapien.RenderBody, is_visible: bool) → None

set_visual_id(self: sapien.core.pysapien.RenderBody, id: int) → None

property type

property visual_id

class sapien.core.pysapien.RenderGeometry

Bases: pybind11_builtins.pybind11_object

property bitangents

property indices

property normals

property tangents

property uvs

property vertices

class sapien.core.pysapien.RenderMaterial

Bases: pybind11_builtins.pybind11_object

property base_color

property diffuse_texture

property diffuse_texture_filename

property emission

property emission_texture

property emission_texture_filename

property ior

property metallic

property metallic_texture

property metallic_texture_filename

property normal_texture

property normal_texture_filename

property roughness

property roughness_texture

property roughness_texture_filename

set_base_color(self: sapien.core.pysapien.RenderMaterial, rgba: numpy.ndarray[numpy.float32]) → None

set_diffuse_texture(self: sapien.core.pysapien.RenderMaterial, texture: sapien.core.pysapien.RenderTexture) → None

set_diffuse_texture_from_file(self: sapien.core.pysapien.RenderMaterial, path: str) → None

set_emission(self: sapien.core.pysapien.RenderMaterial, rgbs: numpy.ndarray[numpy.float32]) → None

set_emission_texture(self: sapien.core.pysapien.RenderMaterial, texture: sapien.core.pysapien.RenderTexture) → None

set_emission_texture_from_file(self: sapien.core.pysapien.RenderMaterial, path: str) → None

set_ior(self: sapien.core.pysapien.RenderMaterial, ior: float) → None

set_metallic(self: sapien.core.pysapien.RenderMaterial, metallic: float) → None

set_metallic_texture(self: sapien.core.pysapien.RenderMaterial, texture: sapien.core.pysapien.RenderTexture) → None

set_metallic_texture_from_file(self: sapien.core.pysapien.RenderMaterial, path: str) → None

set_normal_texture(self: sapien.core.pysapien.RenderMaterial, texture: sapien.core.pysapien.RenderTexture) → None

set_normal_texture_from_file(self: sapien.core.pysapien.RenderMaterial, path: str) → None

set_roughness(self: sapien.core.pysapien.RenderMaterial, roughness: float) → None

set_roughness_texture(self: sapien.core.pysapien.RenderMaterial, texture: sapien.core.pysapien.RenderTexture) → None

set_roughness_texture_from_file(self: sapien.core.pysapien.RenderMaterial, path: str) → None

set_specular(self: sapien.core.pysapien.RenderMaterial, specular: float) → None

set_transmission(self: sapien.core.pysapien.RenderMaterial, transmission: float) → None

set_transmission_texture(self: sapien.core.pysapien.RenderMaterial, texture: sapien.core.pysapien.RenderTexture) → None

set_transmission_texture_from_file(self: sapien.core.pysapien.RenderMaterial, path: str) → None

property specular

property transmission

property transmission_texture

property transmission_texture_filename

class sapien.core.pysapien.RenderScene

Bases: pybind11_builtins.pybind11_object

add_mesh_from_file(self: sapien.core.pysapien.RenderScene, mesh_file: str, scale: numpy.ndarray[numpy.float32]) → sapien.core.pysapien.RenderBody

add_primitive_mesh(self: sapien.core.pysapien.RenderScene, type: str, scale: numpy.ndarray[numpy.float32] = array([1.0, 1.0, 1.0], dtype=float32), material: sapien.core.pysapien.RenderMaterial = None) → sapien.core.pysapien.RenderBody

property ambient_light

remove_mesh(self: sapien.core.pysapien.RenderScene, mesh: sapien.core.pysapien.RenderBody) → None

class sapien.core.pysapien.RenderShape

Bases: pybind11_builtins.pybind11_object

property material

property mesh

class sapien.core.pysapien.RenderTexture

Bases: pybind11_builtins.pybind11_object

property address_mode

property channels

property dtype

property filename

property filter_mode

property height

property mipmap_levels

property width

class sapien.core.pysapien.Scene

Bases: pybind11_builtins.pybind11_object

add_active_light(self: sapien.core.pysapien.Scene, pose: sapien.core.pysapien.Pose, color: numpy.ndarray[numpy.float32], fov: float, tex_path: str) → sapien.core.pysapien.ActiveLightEntity

add_camera(self: sapien.core.pysapien.Scene, name: str, width: int, height: int, fovy: float, near: float, far: float) → sapien.core.pysapien.CameraEntity

add_directional_light(self: sapien.core.pysapien.Scene, direction: numpy.ndarray[numpy.float32], color: numpy.ndarray[numpy.float32], shadow: bool = False, position: numpy.ndarray[numpy.float32] = array([0.0, 0.0, 0.0], dtype=float32), scale: float = 10.0, near: float = - 10.0, far: float = 10.0) → sapien.core.pysapien.DirectionalLightEntity

add_ground(self: sapien.core.pysapien.Scene, altitude: float, render: bool = True, material: sapien.core.pysapien.PhysicalMaterial = None, render_material: sapien.core.pysapien.RenderMaterial = None) → sapien.core.pysapien.ActorStatic

add_mounted_camera(*args, **kwargs)

Overloaded function.

1. add_mounted_camera(self: sapien.core.pysapien.Scene, name: str, actor: sapien.core.pysapien.ActorBase, pose: sapien.core.pysapien.Pose, width: int, height: int, fovy: float, near: float, far: float) -> sapien.core.pysapien.CameraEntity

2. add_mounted_camera(self: sapien.core.pysapien.Scene, name: str, actor: sapien.core.pysapien.ActorBase, pose: sapien.core.pysapien.Pose, width: int, height: int, fovx: float, fovy: float, near: float, far: float) -> sapien.core.pysapien.CameraEntity

add_point_light(self: sapien.core.pysapien.Scene, position: numpy.ndarray[numpy.float32], color: numpy.ndarray[numpy.float32], shadow: bool = False, near: float = 0.1, far: float = 10) → sapien.core.pysapien.PointLightEntity

add_spot_light(self: sapien.core.pysapien.Scene, position: numpy.ndarray[numpy.float32], direction: numpy.ndarray[numpy.float32], inner_fov: float, outer_fov: float, color: numpy.ndarray[numpy.float32], shadow: bool = False, near: float = 0.10000000149011612, far: float = 10.0) → sapien.core.pysapien.SpotLightEntity

property ambient_light

create_actor_builder(self: sapien.core.pysapien.Scene) → sapien.core.pysapien.ActorBuilder

create_articulation_builder(self: sapien.core.pysapien.Scene) → sapien.core.pysapien.ArticulationBuilder

create_drive(self: sapien.core.pysapien.Scene, actor1: sapien.core.pysapien.ActorBase, pose1: sapien.core.pysapien.Pose, actor2: sapien.core.pysapien.ActorBase, pose2: sapien.core.pysapien.Pose) → sapien.core.pysapien.Drive

create_physical_material(self: sapien.core.pysapien.Scene, static_friction: float, dynamic_friction: float, restitution: float) → sapien.core.pysapien.PhysicalMaterial

create_urdf_loader(self: sapien.core.pysapien.Scene) → sapien.core.pysapien.URDFLoader

property default_physical_material

property engine

find_actor_by_id(self: sapien.core.pysapien.Scene, id: int) → sapien.core.pysapien.ActorBase

find_articulation_link_by_link_id(self: sapien.core.pysapien.Scene, id: int) → sapien.core.pysapien.LinkBase

generate_unique_render_id(self: sapien.core.pysapien.Scene) → int

get_all_actors(self: sapien.core.pysapien.Scene) → List[sapien.core.pysapien.ActorBase]

get_all_articulations(self: sapien.core.pysapien.Scene) → List[sapien.core.pysapien.ArticulationBase]

get_all_lights(self: sapien.core.pysapien.Scene) → List[sapien.core.pysapien.LightEntity]

get_cameras(self: sapien.core.pysapien.Scene) → List[sapien.core.pysapien.CameraEntity]

get_contacts(self: sapien.core.pysapien.Scene) → List[sapien.core.pysapien.Contact]

get_mounted_cameras(self: sapien.core.pysapien.Scene) → List[sapien.core.pysapien.CameraEntity]

get_renderer_scene(self: sapien.core.pysapien.Scene) → sapien.core.pysapien.RenderScene

get_timestep(self: sapien.core.pysapien.Scene) → float

property name

pack(self: sapien.core.pysapien.Scene) → Dict[str, Dict[int, List[float]]]

remove_actor(self: sapien.core.pysapien.Scene, actor: sapien.core.pysapien.ActorBase) → None

remove_articulation(self: sapien.core.pysapien.Scene, articulation: sapien.core.pysapien.Articulation) → None

remove_camera(self: sapien.core.pysapien.Scene, camera: sapien.core.pysapien.CameraEntity) → None

remove_drive(self: sapien.core.pysapien.Scene, drive: sapien.core.pysapien.Constraint) → None

remove_kinematic_articulation(self: sapien.core.pysapien.Scene, kinematic_articulation: sapien.core.pysapien.KinematicArticulation) → None

remove_light(self: sapien.core.pysapien.Scene, light: sapien.core.pysapien.LightEntity) → None

property render_id_to_visual_name

property renderer_scene

set_ambient_light(self: sapien.core.pysapien.Scene, color: numpy.ndarray[numpy.float32]) → None

set_environment_map(self: sapien.core.pysapien.Scene, filename: str) → None

set_environment_map_from_files(self: sapien.core.pysapien.Scene, px: str, nx: str, py: str, ny: str, pz: str, nz: str) → None

set_timestep(self: sapien.core.pysapien.Scene, second: float) → None

step(self: sapien.core.pysapien.Scene) → None

step_async(self: sapien.core.pysapien.Scene) → None

step_wait(self: sapien.core.pysapien.Scene) → None

property timestep

unpack(self: sapien.core.pysapien.Scene, data: Dict[str, Dict[int, List[float]]]) → None

update_render(self: sapien.core.pysapien.Scene) → None

class sapien.core.pysapien.SceneConfig

Bases: pybind11_builtins.pybind11_object

property bounce_threshold

property contact_offset

property default_dynamic_friction

property default_restitution

property default_static_friction

property enable_adaptive_force

property enable_ccd

property enable_enhanced_determinism

property enable_friction_every_iteration

property enable_pcm

property enable_tgs

property gravity

property sleep_threshold

property solver_iterations

property solver_velocity_iterations

class sapien.core.pysapien.ShapeRecord

Bases: pybind11_builtins.pybind11_object

property density

property filename

property length

property material

property pose

property radius

property scale

property type

class sapien.core.pysapien.SphereGeometry

Bases: sapien.core.pysapien.CollisionGeometry

property radius

class sapien.core.pysapien.SpotLightEntity

Bases: sapien.core.pysapien.LightEntity

property direction

property fov

property position

set_direction(self: sapien.core.pysapien.SpotLightEntity, direction: numpy.ndarray[numpy.float32]) → None

set_fov(self: sapien.core.pysapien.SpotLightEntity, arg0: float) → None

set_position(self: sapien.core.pysapien.SpotLightEntity, position: numpy.ndarray[numpy.float32]) → None

set_shadow_parameters(self: sapien.core.pysapien.SpotLightEntity, near: float, far: float) → None

property shadow_far

property shadow_near

class sapien.core.pysapien.Subscription

Bases: pybind11_builtins.pybind11_object

unsubscribe(self: sapien.core.pysapien.Subscription) → None

class sapien.core.pysapien.Trigger

Bases: pybind11_builtins.pybind11_object

property actor_other

property actor_trigger

property ends

property starts

class sapien.core.pysapien.URDFLoader

Bases: pybind11_builtins.pybind11_object

property collision_is_visual

property fix_root_link

load(self: sapien.core.pysapien.URDFLoader, filename: str, config: dict = {}) → sapien.core.pysapien.Articulation

Load articulation from URDF. Gazebo cameras are also loaded.

Args:

filename: path to URDF config: a dict to specify any on-the-fly modification of articulation

It follows the following schema (the inner parameter overrides the outer one): - material: PhysicalMaterial - density: float - link: dict[str, dict]

• ${link_name}: dict - material: PhysicalMaterial - density: float - patch_radius: float - min_patch_radius: float - collision: dict[int, dict]

  • ${collision_index}: dict - material: PhysicalMaterial - density: float - patch_radius: float - min_patch_radius: float

load_file_as_articulation_builder(self: sapien.core.pysapien.URDFLoader, filename: str, config: dict = {}) → sapien.core.pysapien.ArticulationBuilder

load_from_string(self: sapien.core.pysapien.URDFLoader, urdf_string: str, srdf_string: str, config: dict = {}) → sapien.core.pysapien.Articulation

load_kinematic(self: sapien.core.pysapien.URDFLoader, filename: str, config: dict = {}) → sapien.core.pysapien.KinematicArticulation

property load_multiple_collisions_from_file

property scale

class sapien.core.pysapien.VisualRecord

Bases: pybind11_builtins.pybind11_object

property filename

property length

property material

property pose

property radius

property scale

property type

class sapien.core.pysapien.VulkanRenderer

Bases: sapien.core.pysapien.IPxrRenderer

clear_cached_resources(self: sapien.core.pysapien.VulkanRenderer) → None

create_window(self: sapien.core.pysapien.VulkanRenderer, width: int = 800, height: int = 600, shader_dir: str = '') → sapien.core.pysapien.VulkanWindow

set_camera_shader_dir()

static set_log_level(level: str) → None

set_viewer_shader_dir()

class sapien.core.pysapien.VulkanRigidbody

Bases: sapien.core.pysapien.RenderBody

class sapien.core.pysapien.VulkanScene

Bases: sapien.core.pysapien.RenderScene

class sapien.core.pysapien.VulkanWindow

Bases: pybind11_builtins.pybind11_object

property alt

property ctrl

property cursor

property display_target_names

Names for available display targets that can be displayed in the render function

property fps

get_camera_position(self: sapien.core.pysapien.VulkanWindow) → numpy.ndarray[numpy.float32]

get_camera_projection_matrix(self: sapien.core.pysapien.VulkanWindow) → numpy.ndarray[numpy.float32]

get_camera_rotation(self: sapien.core.pysapien.VulkanWindow) → numpy.ndarray[numpy.float32]

get_float_texture(self: sapien.core.pysapien.VulkanWindow, name: str) → numpy.ndarray[numpy.float32]

get_float_texture_pixel(self: sapien.core.pysapien.VulkanWindow, name: str, x: int, y: int) → numpy.ndarray[numpy.float32]

get_target_size(self: sapien.core.pysapien.VulkanWindow, name: str) → List[int[2]]

get_uint32_texture(self: sapien.core.pysapien.VulkanWindow, name: str) → numpy.ndarray[numpy.uint32]

get_uint32_texture_pixel(self: sapien.core.pysapien.VulkanWindow, name: str, x: int, y: int) → numpy.ndarray[numpy.uint32]

hide(self: sapien.core.pysapien.VulkanWindow) → None

key_down(self: sapien.core.pysapien.VulkanWindow, key: str) → bool

key_press(self: sapien.core.pysapien.VulkanWindow, key: str) → bool

mouse_click(self: sapien.core.pysapien.VulkanWindow, key: int) → bool

property mouse_delta

mouse_down(self: sapien.core.pysapien.VulkanWindow, key: int) → bool

property mouse_position

property mouse_wheel_delta

render(self: sapien.core.pysapien.VulkanWindow, target_name: str, ui_windows: List[sapien.core.pysapien.renderer.UIWindow] = []) → None

resize(self: sapien.core.pysapien.VulkanWindow, width: int, height: int) → None

set_camera_parameters(self: sapien.core.pysapien.VulkanWindow, near: float, far: float, fovy: float) → None

set_camera_position(self: sapien.core.pysapien.VulkanWindow, position: numpy.ndarray[numpy.float32]) → None

set_camera_rotation(self: sapien.core.pysapien.VulkanWindow, quat: numpy.ndarray[numpy.float32]) → None

set_scene(self: sapien.core.pysapien.VulkanWindow, scene: sapien.core.pysapien.Scene) → None

property shift

property should_close

show(self: sapien.core.pysapien.VulkanWindow) → None

property size

property super

Module contents

sapien.core.ensure_icd()