sapien.utils package

Submodules

sapien.utils.viewer module

class sapien.utils.viewer.ArcRotateCameraController(window: sapien.core.pysapien.VulkanWindow)[source]

Bases: object

rotate_yaw_pitch(yaw, pitch)[source]
set_center(center)[source]
set_yaw_pitch(yaw, pitch)[source]
set_zoom(zoom)[source]
update()[source]
zoom(zoom_in)[source]
class sapien.utils.viewer.FPSCameraController(window: sapien.core.pysapien.VulkanWindow)[source]

Bases: object

move(forward, left, up)[source]
rotate(roll, pitch, yaw)[source]
setRPY(roll, pitch, yaw)[source]
setXYZ(x, y, z)[source]
update()[source]
class sapien.utils.viewer.Viewer(renderer: sapien.core.pysapien.VulkanRenderer, shader_dir='', resolutions=1024, 768, 800, 600, 1920, 1080)[source]

Bases: object

add_display_object()[source]
build_actor_window()[source]
build_articulation_window()[source]
build_control_window()[source]
build_ik_window()[source]
build_info_window()[source]
build_scene_window()[source]
camera_space_to_world_space(vec)[source]
clear_ik_display_objects()[source]
close()[source]
property closed
compute_ik()[source]
create_visual_models()[source]
create_visual_objects()[source]
enable_ik(enable)[source]
enter_mode(name)[source]
execute_ik(_)[source]
find_actor(id)[source]
focus_camera(camera: sapien.core.pysapien.CameraEntity)[source]
focus_entity(actor)[source]
static get_camera_pose(camera: sapien.core.pysapien.CameraEntity)[source]

Get the camera pose in the Sapien world.

initialize_key_action_map()[source]
is_mouse_available(mx, my)[source]
key_down_action(key)[source]
key_press_action(key)[source]
leave_mode(name)[source]
refresh_ik()[source]
refresh_ik_display_objects()[source]
render()[source]
screen_space_to_world_space(point)[source]
select_entity(entity)[source]
set_camera_rpy(r, p, y)[source]
set_camera_xyz(x, y, z)[source]
set_coordinate_axes_mode(mode)[source]
set_fovy(fovy)[source]
set_immediate_move(enabled)[source]
set_move_speed(x)[source]
set_resolution(index)[source]
set_rotate_speed(x)[source]
set_scene(scene: sapien.core.pysapien.Scene)[source]
set_scroll_speed(x)[source]
set_selection_opacity(opacity)[source]
set_target(name)[source]
set_window_resolutions(resolutions)[source]
step_button()[source]
take_screenshot(_)[source]
toggle_axes(show)[source]
toggle_camera_lines(show)[source]
toggle_pause(paused)[source]
update_coordinate_axes()[source]
update_coordinate_axes_scale(scale)[source]
update_ik_display_objects()[source]
update_joint_axis()[source]
world_space_to_camera_space(vec)[source]
world_space_to_screen_space(point)[source]

Module contents