"""Test offscreen renderer for SAPIEN
"""
import sapien.core as sapien
from sapien.utils import Viewer
import numpy as np
from PIL import Image
[docs]def main():
engine = sapien.Engine() # Create a physical simulation engine
renderer = sapien.SapienRenderer() # Create a renderer
engine.set_renderer(renderer) # Bind the renderer and the engine
scene = engine.create_scene() # Create an instance of simulation world (aka scene)
scene.set_timestep(1 / 100.0) # Set the simulation frequency
# NOTE: How to build actors (rigid bodies) is elaborated in create_actors.py
scene.add_ground(altitude=0) # Add a ground
actor_builder = scene.create_actor_builder()
actor_builder.add_box_collision(half_size=[0.5, 0.5, 0.5])
actor_builder.add_box_visual(half_size=[0.5, 0.5, 0.5], color=[1., 0., 0.])
box = actor_builder.build(name='box') # Add a box
box.set_pose(sapien.Pose(p=[0, 0, 0.5]))
# Add some lights so that you can observe the scene
scene.set_ambient_light([0.5, 0.5, 0.5])
scene.add_directional_light([0, 1, -1], [0.5, 0.5, 0.5])
actor = scene.create_actor_builder().build_kinematic()
actor.set_pose(sapien.Pose([-3, 0, 0.5]))
cam = scene.add_mounted_camera('', actor, sapien.Pose(), 128, 128, 1, 0.01, 10)
scene.update_render()
cam.take_picture()
color = cam.get_color_rgba()
Image.fromarray((color[..., :3].clip(0, 1) * 255).astype(np.uint8)).save("output.png")
if __name__ == '__main__':
main()