sapien package
Subpackages
- sapien.asset package
- sapien.core package
- Submodules
- sapien.core.pysapien module
ActiveLightEntityActorActorBaseActorBase.get_builder()ActorBase.get_collision_shapes()ActorBase.get_collision_visual_bodies()ActorBase.get_id()ActorBase.get_scene()ActorBase.get_visual_bodies()ActorBase.hide_visual()ActorBase.idActorBase.is_hiding_visual()ActorBase.on_contact()ActorBase.on_step()ActorBase.on_trigger()ActorBase.render_collision()ActorBase.typeActorBase.unhide_visual()
ActorBuilderActorBuilder.add_box_collision()ActorBuilder.add_box_visual()ActorBuilder.add_capsule_collision()ActorBuilder.add_capsule_visual()ActorBuilder.add_collision_from_file()ActorBuilder.add_multiple_collisions_from_file()ActorBuilder.add_nonconvex_collision_from_file()ActorBuilder.add_sphere_collision()ActorBuilder.add_sphere_visual()ActorBuilder.add_visual_from_file()ActorBuilder.add_visual_from_mesh()ActorBuilder.build()ActorBuilder.build_kinematic()ActorBuilder.build_static()ActorBuilder.get_collisions()ActorBuilder.get_visuals()ActorBuilder.remove_all_collisions()ActorBuilder.remove_all_visuals()ActorBuilder.remove_collision_at()ActorBuilder.remove_visual_at()ActorBuilder.reset_collision_groups()ActorBuilder.set_collision_groups()ActorBuilder.set_mass_and_inertia()ActorBuilder.set_scene()
ActorDynamicBaseActorDynamicBase.add_force_at_point()ActorDynamicBase.add_force_torque()ActorDynamicBase.angular_velocityActorDynamicBase.ccdActorDynamicBase.cmass_local_poseActorDynamicBase.get_angular_velocity()ActorDynamicBase.get_cmass_local_pose()ActorDynamicBase.get_inertia()ActorDynamicBase.get_mass()ActorDynamicBase.get_velocity()ActorDynamicBase.inertiaActorDynamicBase.massActorDynamicBase.set_ccd()ActorDynamicBase.set_damping()ActorDynamicBase.velocity
ActorStaticArticulationArticulation.compute_adjoint_matrix()Articulation.compute_cartesian_diff_ik()Articulation.compute_forward_dynamics()Articulation.compute_generalized_external_force()Articulation.compute_inverse_dynamics()Articulation.compute_manipulator_inertia_matrix()Articulation.compute_passive_force()Articulation.compute_spatial_twist_jacobian()Articulation.compute_transformation_matrix()Articulation.compute_twist_diff_ik()Articulation.compute_world_cartesian_jacobian()Articulation.fixedArticulation.get_active_joints()Articulation.get_drive_velocity_target()Articulation.pack()Articulation.set_drive_velocity_target()Articulation.set_root_angular_velocity()Articulation.set_root_velocity()Articulation.unpack()
ArticulationBaseArticulationBase.create_pinocchio_model()ArticulationBase.dofArticulationBase.export_urdf()ArticulationBase.get_builder()ArticulationBase.get_joints()ArticulationBase.get_links()ArticulationBase.get_qacc()ArticulationBase.get_qf()ArticulationBase.get_qlimits()ArticulationBase.get_qpos()ArticulationBase.get_qvel()ArticulationBase.get_root_pose()ArticulationBase.set_pose()ArticulationBase.set_qacc()ArticulationBase.set_qf()ArticulationBase.set_qlimits()ArticulationBase.set_qpos()ArticulationBase.set_qvel()ArticulationBase.set_root_pose()ArticulationBase.type
ArticulationBuilderArticulationDrivableAwaitableDLListAwaitableVoidBoxGeometryCameraEntityCameraEntity.cxCameraEntity.cyCameraEntity.farCameraEntity.fovxCameraEntity.fovyCameraEntity.fxCameraEntity.fyCameraEntity.get_albedo_rgba()CameraEntity.get_camera_matrix()CameraEntity.get_color_rgba()CameraEntity.get_dl_tensor()CameraEntity.get_extrinsic_matrix()CameraEntity.get_float_texture()CameraEntity.get_intrinsic_matrix()CameraEntity.get_model_matrix()CameraEntity.get_normal_rgba()CameraEntity.get_position_rgba()CameraEntity.get_projection_matrix()CameraEntity.get_texture()CameraEntity.get_uint32_texture()CameraEntity.get_uint8_texture()CameraEntity.get_visual_actor_segmentation()CameraEntity.heightCameraEntity.local_poseCameraEntity.nearCameraEntity.parentCameraEntity.set_focal_lengths()CameraEntity.set_fovx()CameraEntity.set_fovy()CameraEntity.set_local_pose()CameraEntity.set_parent()CameraEntity.set_perspective_parameters()CameraEntity.set_pose()CameraEntity.set_principal_point()CameraEntity.skewCameraEntity.take_picture()CameraEntity.take_picture_and_get_dl_tensors_async()CameraEntity.width
CapsuleGeometryCollisionGeometryCollisionShapeCollisionShape.actorCollisionShape.contact_offsetCollisionShape.geometryCollisionShape.get_collision_groups()CollisionShape.get_local_pose()CollisionShape.get_physical_material()CollisionShape.is_triggerCollisionShape.min_patch_radiusCollisionShape.patch_radiusCollisionShape.rest_offsetCollisionShape.set_collision_groups()CollisionShape.set_local_pose()CollisionShape.set_physical_material()CollisionShape.type
ConstraintContactContactPointConvexMeshGeometryDirectionalLightEntityDriveDrive.free_motion()Drive.lock_motion()Drive.set_distance_limit()Drive.set_slerp_properties()Drive.set_target()Drive.set_target_velocity()Drive.set_x_limit()Drive.set_x_properties()Drive.set_x_twist_limit()Drive.set_x_twist_properties()Drive.set_y_limit()Drive.set_y_properties()Drive.set_yz_cone_limit()Drive.set_yz_pyramid_limit()Drive.set_yz_swing_properties()Drive.set_z_limit()Drive.set_z_properties()
EngineEntityGearIPxrRendererJointJointBaseJointRecordKinematicArticulationKinematicJointKinematicJointFixedKinematicJointPrismaticKinematicJointRevoluteKinematicJointSingleDofKinematicLinkKuafuConfigKuafuConfig.accumulate_framesKuafuConfig.assets_pathKuafuConfig.max_bouncesKuafuConfig.max_geometriesKuafuConfig.max_geometry_instancesKuafuConfig.max_materialsKuafuConfig.max_texturesKuafuConfig.sppKuafuConfig.use_denoiserKuafuConfig.use_viewerKuafuConfig.viewer_heightKuafuConfig.viewer_width
KuafuRendererLightEntityLinkLinkBaseLinkBuilderNonconvexMeshGeometryParticleEntityPhysicalMaterialPhysicalMaterial.dynamic_frictionPhysicalMaterial.get_dynamic_friction()PhysicalMaterial.get_restitution()PhysicalMaterial.get_static_friction()PhysicalMaterial.restitutionPhysicalMaterial.set_dynamic_friction()PhysicalMaterial.set_restitution()PhysicalMaterial.set_static_friction()PhysicalMaterial.static_friction
PinocchioModelPinocchioModel.compute_coriolis_matrix()PinocchioModel.compute_forward_dynamics()PinocchioModel.compute_forward_kinematics()PinocchioModel.compute_full_jacobian()PinocchioModel.compute_generalized_mass_matrix()PinocchioModel.compute_inverse_dynamics()PinocchioModel.compute_inverse_kinematics()PinocchioModel.compute_single_link_local_jacobian()PinocchioModel.get_link_jacobian()PinocchioModel.get_link_pose()
PlaneGeometryPointLightEntityPoseProfilerBlockRenderBodyRenderBody.actor_idRenderBody.get_actor_id()RenderBody.get_name()RenderBody.get_render_shapes()RenderBody.get_visual_id()RenderBody.half_lengthRenderBody.half_lengthsRenderBody.local_poseRenderBody.nameRenderBody.radiusRenderBody.scaleRenderBody.set_custom_data()RenderBody.set_name()RenderBody.set_pose()RenderBody.set_visibility()RenderBody.set_visible()RenderBody.set_visual_id()RenderBody.shade_flatRenderBody.typeRenderBody.visual_id
RenderClientRenderConfigRenderConfig.camera_shader_dirRenderConfig.get_render_target_format()RenderConfig.has_render_target_format()RenderConfig.rt_path_depthRenderConfig.rt_samples_per_pixelRenderConfig.rt_use_denoiserRenderConfig.set_render_target_format()RenderConfig.unset_render_target_format()RenderConfig.viewer_shader_dir
RenderMaterialRenderMaterial.base_colorRenderMaterial.diffuse_textureRenderMaterial.diffuse_texture_filenameRenderMaterial.emissionRenderMaterial.emission_textureRenderMaterial.emission_texture_filenameRenderMaterial.iorRenderMaterial.metallicRenderMaterial.metallic_textureRenderMaterial.metallic_texture_filenameRenderMaterial.normal_textureRenderMaterial.normal_texture_filenameRenderMaterial.roughnessRenderMaterial.roughness_textureRenderMaterial.roughness_texture_filenameRenderMaterial.set_base_color()RenderMaterial.set_diffuse_texture()RenderMaterial.set_diffuse_texture_from_file()RenderMaterial.set_emission()RenderMaterial.set_emission_texture()RenderMaterial.set_emission_texture_from_file()RenderMaterial.set_ior()RenderMaterial.set_metallic()RenderMaterial.set_metallic_texture()RenderMaterial.set_metallic_texture_from_file()RenderMaterial.set_normal_texture()RenderMaterial.set_normal_texture_from_file()RenderMaterial.set_roughness()RenderMaterial.set_roughness_texture()RenderMaterial.set_roughness_texture_from_file()RenderMaterial.set_specular()RenderMaterial.set_transmission()RenderMaterial.set_transmission_texture()RenderMaterial.set_transmission_texture_from_file()RenderMaterial.specularRenderMaterial.transmissionRenderMaterial.transmission_textureRenderMaterial.transmission_texture_filename
RenderMeshRenderParticleBodyRenderSceneRenderServerRenderServerBufferRenderShapeRenderTextureSapienRendererSceneScene.add_active_light()Scene.add_camera()Scene.add_directional_light()Scene.add_ground()Scene.add_mounted_camera()Scene.add_particle_entity()Scene.add_point_light()Scene.add_spot_light()Scene.ambient_lightScene.create_actor_builder()Scene.create_articulation_builder()Scene.create_drive()Scene.create_gear()Scene.create_physical_material()Scene.create_urdf_loader()Scene.default_physical_materialScene.engineScene.find_actor_by_id()Scene.find_articulation_link_by_link_id()Scene.generate_unique_render_id()Scene.get_all_actors()Scene.get_all_articulations()Scene.get_all_lights()Scene.get_cameras()Scene.get_config()Scene.get_contacts()Scene.get_mounted_cameras()Scene.get_renderer_scene()Scene.get_timestep()Scene.multistep_async()Scene.nameScene.pack()Scene.remove_actor()Scene.remove_articulation()Scene.remove_camera()Scene.remove_drive()Scene.remove_kinematic_articulation()Scene.remove_light()Scene.remove_particle_entity()Scene.render_id_to_visual_nameScene.renderer_sceneScene.set_ambient_light()Scene.set_environment_map()Scene.set_environment_map_from_files()Scene.set_timestep()Scene.step()Scene.step_async()Scene.timestepScene.unpack()Scene.update_render()Scene.update_render_async()
SceneConfigSceneConfig.bounce_thresholdSceneConfig.contact_offsetSceneConfig.default_dynamic_frictionSceneConfig.default_restitutionSceneConfig.default_static_frictionSceneConfig.disable_collision_visualSceneConfig.enable_adaptive_forceSceneConfig.enable_ccdSceneConfig.enable_enhanced_determinismSceneConfig.enable_friction_every_iterationSceneConfig.enable_pcmSceneConfig.enable_tgsSceneConfig.gravitySceneConfig.sleep_thresholdSceneConfig.solver_iterationsSceneConfig.solver_velocity_iterations
SceneMultistepCallbackShapeRecordSphereGeometrySpotLightEntitySubscriptionTriggerURDFLoaderVisualRecordVulkanParticleBodyVulkanRenderMeshVulkanRigidbodyVulkanSceneVulkanWindowVulkanWindow.altVulkanWindow.ctrlVulkanWindow.cursorVulkanWindow.display_target_namesVulkanWindow.farVulkanWindow.fovyVulkanWindow.fpsVulkanWindow.get_camera_position()VulkanWindow.get_camera_projection_matrix()VulkanWindow.get_camera_rotation()VulkanWindow.get_float_texture()VulkanWindow.get_float_texture_pixel()VulkanWindow.get_target_size()VulkanWindow.get_uint32_texture()VulkanWindow.get_uint32_texture_pixel()VulkanWindow.hide()VulkanWindow.key_down()VulkanWindow.key_press()VulkanWindow.mouse_click()VulkanWindow.mouse_deltaVulkanWindow.mouse_down()VulkanWindow.mouse_positionVulkanWindow.mouse_wheel_deltaVulkanWindow.nearVulkanWindow.render()VulkanWindow.resize()VulkanWindow.set_camera_parameters()VulkanWindow.set_camera_position()VulkanWindow.set_camera_property()VulkanWindow.set_camera_rotation()VulkanWindow.set_drop_callback()VulkanWindow.set_intrinsic_parameters()VulkanWindow.set_scene()VulkanWindow.set_shader_dir()VulkanWindow.shiftVulkanWindow.should_closeVulkanWindow.show()VulkanWindow.sizeVulkanWindow.superVulkanWindow.unset_drop_callback()
add_profiler_event()get_global_render_config()
- Module contents
- sapien.example package
- sapien.sensor package
- sapien.utils package
- Submodules
- sapien.utils.viewer module
ArcRotateCameraControllerFPSCameraControllerViewerViewer.add_display_object()Viewer.build_actor_window()Viewer.build_articulation_window()Viewer.build_control_window()Viewer.build_ik_window()Viewer.build_info_window()Viewer.build_scene_window()Viewer.camera_space_to_world_space()Viewer.clear_ik_display_objects()Viewer.close()Viewer.closedViewer.compute_ik()Viewer.copy_camera_settings()Viewer.create_visual_models()Viewer.create_visual_objects()Viewer.drag_and_drop()Viewer.enable_denoiser()Viewer.enable_ik()Viewer.enter_mode()Viewer.execute_ik()Viewer.find_actor()Viewer.focus_camera()Viewer.focus_entity()Viewer.get_camera_pose()Viewer.initialize_key_action_map()Viewer.is_mouse_available()Viewer.key_down_action()Viewer.key_press_action()Viewer.leave_mode()Viewer.refresh_ik()Viewer.refresh_ik_display_objects()Viewer.render()Viewer.reset_windows()Viewer.screen_space_to_world_space()Viewer.select_entity()Viewer.set_camera_rpy()Viewer.set_camera_xyz()Viewer.set_coordinate_axes_mode()Viewer.set_fovy()Viewer.set_immediate_move()Viewer.set_move_speed()Viewer.set_resolution()Viewer.set_rotate_speed()Viewer.set_scene()Viewer.set_scroll_speed()Viewer.set_selection_opacity()Viewer.set_shader()Viewer.set_target()Viewer.step_button()Viewer.take_screenshot()Viewer.toggle_axes()Viewer.toggle_camera_lines()Viewer.toggle_pause()Viewer.update_coordinate_axes()Viewer.update_coordinate_axes_scale()Viewer.update_ik_display_objects()Viewer.update_joint_axis()Viewer.world_space_to_camera_space()Viewer.world_space_to_screen_space()
- Module contents