sapien.utils package

Submodules

sapien.utils.viewer module

class sapien.utils.viewer.ArcRotateCameraController(window: VulkanWindow)

Bases: object

rotate_yaw_pitch(yaw, pitch)

set_center(center)

set_yaw_pitch(yaw, pitch)

set_zoom(zoom)

update()

zoom(zoom_in)

class sapien.utils.viewer.FPSCameraController(window: VulkanWindow)

Bases: object

move(forward, left, up)

rotate(roll, pitch, yaw)

setRPY(roll, pitch, yaw)

setXYZ(x, y, z)

update()

class sapien.utils.viewer.Viewer(renderer: VulkanRenderer, shader_dir='', resolutions=((1024, 768), (800, 600), (1920, 1080)))

Bases: object

add_display_object()

build_actor_window()

build_articulation_window()

build_control_window()

build_ik_window()

build_info_window()

build_scene_window()

camera_space_to_world_space(vec)

clear_ik_display_objects()

close()

property closed

compute_ik()

create_visual_models()

create_visual_objects()

enable_ik(enable)

enter_mode(name)

execute_ik(_)

find_actor(id)

focus_camera(camera: CameraEntity)

focus_entity(actor)

static get_camera_pose(camera: CameraEntity)

Get the camera pose in the Sapien world.

initialize_key_action_map()

is_mouse_available(mx, my)

key_down_action(key)

key_press_action(key)

leave_mode(name)

refresh_ik()

refresh_ik_display_objects()

render()

screen_space_to_world_space(point)

select_entity(entity)

set_camera_rpy(r, p, y)

set_camera_xyz(x, y, z)

set_coordinate_axes_mode(mode)

set_fovy(fovy)

set_immediate_move(enabled)

set_move_speed(x)

set_resolution(index)

set_rotate_speed(x)

set_scene(scene: Scene)

set_scroll_speed(x)

set_selection_opacity(opacity)

set_target(name)

set_window_resolutions(resolutions)

step_button()

take_screenshot(_)

toggle_axes(show)

toggle_camera_lines(show)

toggle_pause(paused)

update_coordinate_axes()

update_coordinate_axes_scale(scale)

update_ik_display_objects()

update_joint_axis()

world_space_to_camera_space(vec)

world_space_to_screen_space(point)

Module contents