sapien

Subpackages

• pysapien
  • Subpackages
    • physx
      • Module contents
    • render
      • Module contents
  • Module contents
    • Component
      • Component.disable()
      • Component.enable()
      • Component.entity
      • Component.entity_pose
      • Component.get_entity()
      • Component.get_entity_pose()
      • Component.get_name()
      • Component.get_pose()
      • Component.is_enabled
      • Component.name
      • Component.pose
      • Component.set_entity_pose()
      • Component.set_name()
      • Component.set_pose()
    • CudaArray
      • CudaArray.cuda_id
      • CudaArray.dlpack()
      • CudaArray.jax()
      • CudaArray.ptr
      • CudaArray.shape
      • CudaArray.strides
      • CudaArray.torch()
      • CudaArray.typestr
    • Device
      • Device.can_present()
      • Device.can_render()
      • Device.cuda_id
      • Device.is_cpu()
      • Device.is_cuda()
      • Device.name
      • Device.pci_string
    • Entity
      • Entity.add_component()
      • Entity.add_to_scene()
      • Entity.components
      • Entity.find_component_by_type()
      • Entity.get_components()
      • Entity.get_global_id()
      • Entity.get_name()
      • Entity.get_per_scene_id()
      • Entity.get_pose()
      • Entity.get_scene()
      • Entity.global_id
      • Entity.name
      • Entity.per_scene_id
      • Entity.pose
      • Entity.remove_component()
      • Entity.remove_from_scene()
      • Entity.scene
      • Entity.set_name()
      • Entity.set_pose()
    • Pose
      • Pose.get_p()
      • Pose.get_q()
      • Pose.get_rpy()
      • Pose.inv()
      • Pose.p
      • Pose.q
      • Pose.rpy
      • Pose.set_p()
      • Pose.set_q()
      • Pose.set_rpy()
      • Pose.to_transformation_matrix()
    • Profiler
    • Scene
      • Scene.add_entity()
      • Scene.add_system()
      • Scene.clear()
      • Scene.entities
      • Scene.get_entities()
      • Scene.get_id()
      • Scene.get_physx_system()
      • Scene.get_render_system()
      • Scene.get_system()
      • Scene.id
      • Scene.pack_poses()
      • Scene.physx_system
      • Scene.remove_entity()
      • Scene.render_system
      • Scene.unpack_poses()
    • System
      • System.step()
    • abi_version()
    • compiled_with_cxx11_abi()
    • profile()
    • pybind11_internals_id()
    • pybind11_use_smart_holder()
    • set_log_level()
• wrapper
  • Subpackages
    • geometry
      • Submodules
      • sapien.wrapper.geometry.blender_usd_to_glb module
      • sapien.wrapper.geometry.cache module
      • sapien.wrapper.geometry.usd module
      • Module contents
  • Submodules
  • sapien.wrapper.actor_builder module
    • ActorBuilder
      • ActorBuilder.add_box_collision()
      • ActorBuilder.add_box_visual()
      • ActorBuilder.add_capsule_collision()
      • ActorBuilder.add_capsule_visual()
      • ActorBuilder.add_convex_collision_from_file()
      • ActorBuilder.add_cylinder_collision()
      • ActorBuilder.add_cylinder_visual()
      • ActorBuilder.add_multiple_convex_collisions_from_file()
      • ActorBuilder.add_nonconvex_collision_from_file()
      • ActorBuilder.add_plane_collision()
      • ActorBuilder.add_plane_visual()
      • ActorBuilder.add_sphere_collision()
      • ActorBuilder.add_sphere_visual()
      • ActorBuilder.add_visual_from_file()
      • ActorBuilder.build()
      • ActorBuilder.build_entity()
      • ActorBuilder.build_kinematic()
      • ActorBuilder.build_physx_component()
      • ActorBuilder.build_render_component()
      • ActorBuilder.build_static()
      • ActorBuilder.set_initial_pose()
      • ActorBuilder.set_mass_and_inertia()
      • ActorBuilder.set_name()
      • ActorBuilder.set_physx_body_type()
      • ActorBuilder.set_scene()
    • CollisionShapeRecord
      • CollisionShapeRecord.decomposition
      • CollisionShapeRecord.decomposition_params
      • CollisionShapeRecord.density
      • CollisionShapeRecord.filename
      • CollisionShapeRecord.is_trigger
      • CollisionShapeRecord.length
      • CollisionShapeRecord.material
      • CollisionShapeRecord.min_patch_radius
      • CollisionShapeRecord.patch_radius
      • CollisionShapeRecord.pose
      • CollisionShapeRecord.radius
      • CollisionShapeRecord.scale
      • CollisionShapeRecord.type
    • VisualShapeRecord
      • VisualShapeRecord.filename
      • VisualShapeRecord.length
      • VisualShapeRecord.material
      • VisualShapeRecord.name
      • VisualShapeRecord.pose
      • VisualShapeRecord.radius
      • VisualShapeRecord.scale
      • VisualShapeRecord.type
    • preprocess_mesh_file()
  • sapien.wrapper.articulation_builder module
    • ArticulationBuilder
      • ArticulationBuilder.build()
      • ArticulationBuilder.build_entities()
      • ArticulationBuilder.create_link_builder()
      • ArticulationBuilder.set_initial_pose()
      • ArticulationBuilder.set_scene()
    • JointRecord
      • JointRecord.damping
      • JointRecord.friction
      • JointRecord.joint_type
      • JointRecord.limits
      • JointRecord.name
      • JointRecord.pose_in_child
      • JointRecord.pose_in_parent
    • LinkBuilder
      • LinkBuilder.set_joint_name()
      • LinkBuilder.set_joint_properties()
    • MimicJointRecord
      • MimicJointRecord.joint
      • MimicJointRecord.mimic
      • MimicJointRecord.multiplier
      • MimicJointRecord.offset
  • sapien.wrapper.coacd module
    • do_coacd()
    • get_file_md5()
  • sapien.wrapper.engine module
    • Engine
      • Engine.create_physical_material()
      • Engine.create_scene()
      • Engine.set_renderer()
  • sapien.wrapper.pinocchio_model module
  • sapien.wrapper.renderer module
    • SapienRenderer
      • SapienRenderer.create_material()
    • get_diffuse_texture()
    • set_diffuse_texture()
  • sapien.wrapper.scene module
    • Scene
      • Scene.add_area_light_for_ray_tracing()
      • Scene.add_camera()
      • Scene.add_directional_light()
      • Scene.add_ground()
      • Scene.add_mounted_camera()
      • Scene.add_point_light()
      • Scene.add_spot_light()
      • Scene.ambient_light
      • Scene.create_actor_builder()
      • Scene.create_articulation_builder()
      • Scene.create_connection()
      • Scene.create_drive()
      • Scene.create_gear()
      • Scene.create_physical_material()
      • Scene.create_urdf_loader()
      • Scene.create_viewer()
      • Scene.get_all_actors()
      • Scene.get_all_articulations()
      • Scene.get_cameras()
      • Scene.get_contacts()
      • Scene.get_mounted_cameras()
      • Scene.get_timestep()
      • Scene.remove_actor()
      • Scene.remove_articulation()
      • Scene.remove_camera()
      • Scene.remove_light()
      • Scene.render_id_to_visual_name
      • Scene.set_ambient_light()
      • Scene.set_environment_map()
      • Scene.set_environment_map_from_files()
      • Scene.set_timestep()
      • Scene.step()
      • Scene.timestep
      • Scene.update_render()
    • Widget
  • sapien.wrapper.urdf_exporter module
    • export_joint()
    • export_kinematic_chain_urdf()
    • export_kinematic_chain_xml()
    • export_link()
  • sapien.wrapper.urdf_loader module
  • Module contents
• sensor
  • Submodules
  • sapien.sensor.activelight module
  • sapien.sensor.depth_processor module
    • calc_depth_and_pointcloud()
    • calc_disparity()
    • calc_main_depth_from_left_right_ir()
    • calc_rectified_stereo_pair()
    • depth_post_processing()
    • get_census()
    • init_rectify_stereo()
    • pad_lr()
    • sim_ir_noise()
    • unpad_lr()
  • sapien.sensor.sensor_base module
    • SensorEntity
  • sapien.sensor.simsense_component module
    • SimSenseComponent
      • SimSenseComponent.compute()
      • SimSenseComponent.get_cuda()
      • SimSenseComponent.get_ndarray()
      • SimSenseComponent.get_point_cloud_cuda()
      • SimSenseComponent.get_point_cloud_ndarray()
      • SimSenseComponent.get_rgb_point_cloud_cuda()
      • SimSenseComponent.get_rgb_point_cloud_ndarray()
      • SimSenseComponent.on_add_to_scene()
      • SimSenseComponent.on_remove_from_scene()
  • sapien.sensor.stereodepth module
    • StereoDepthSensor
      • StereoDepthSensor.compute_depth()
      • StereoDepthSensor.get_config()
      • StereoDepthSensor.get_depth()
      • StereoDepthSensor.get_depth_cuda()
      • StereoDepthSensor.get_ir()
      • StereoDepthSensor.get_pointcloud()
      • StereoDepthSensor.get_pointcloud_cuda()
      • StereoDepthSensor.get_pose()
      • StereoDepthSensor.get_rgb()
      • StereoDepthSensor.get_rgba_cuda()
      • StereoDepthSensor.set_census_window_size()
      • StereoDepthSensor.set_ir_noise()
      • StereoDepthSensor.set_local_pose()
      • StereoDepthSensor.set_lr_max_diff()
      • StereoDepthSensor.set_matching_block_size()
      • StereoDepthSensor.set_penalties()
      • StereoDepthSensor.set_uniqueness_ratio()
      • StereoDepthSensor.take_picture()
    • StereoDepthSensorConfig
      • StereoDepthSensorConfig.block_height
      • StereoDepthSensorConfig.block_width
      • StereoDepthSensorConfig.census_height
      • StereoDepthSensorConfig.census_width
      • StereoDepthSensorConfig.depth_dilation
      • StereoDepthSensorConfig.ir_intrinsic
      • StereoDepthSensorConfig.ir_noise_seed
      • StereoDepthSensorConfig.ir_resolution
      • StereoDepthSensorConfig.ir_speckle_noise
      • StereoDepthSensorConfig.ir_thermal_noise
      • StereoDepthSensorConfig.light_pattern
      • StereoDepthSensorConfig.lr_max_diff
      • StereoDepthSensorConfig.max_depth
      • StereoDepthSensorConfig.max_disp
      • StereoDepthSensorConfig.median_filter_size
      • StereoDepthSensorConfig.min_depth
      • StereoDepthSensorConfig.p1_penalty
      • StereoDepthSensorConfig.p2_penalty
      • StereoDepthSensorConfig.rectified
      • StereoDepthSensorConfig.rgb_intrinsic
      • StereoDepthSensorConfig.rgb_resolution
      • StereoDepthSensorConfig.trans_pose_l
      • StereoDepthSensorConfig.trans_pose_r
      • StereoDepthSensorConfig.uniqueness_ratio
  • Module contents
• asset
  • Module contents
    • create_dome_envmap()
    • download_partnet_mobility()
• utils
  • Subpackages
    • viewer
      • Submodules
      • sapien.utils.viewer.articulation_window module
      • sapien.utils.viewer.camera_control module
      • sapien.utils.viewer.contact_window module
      • sapien.utils.viewer.control_window module
      • sapien.utils.viewer.entity_window module
      • sapien.utils.viewer.imgui_ini module
      • sapien.utils.viewer.keyframe_window module
      • sapien.utils.viewer.path_window module
      • sapien.utils.viewer.plugin module
      • sapien.utils.viewer.render_window module
      • sapien.utils.viewer.scene_window module
      • sapien.utils.viewer.serialization module
      • sapien.utils.viewer.setting_window module
      • sapien.utils.viewer.transform_window module
      • sapien.utils.viewer.viewer module
      • Module contents
  • Module contents

Submodules

sapien.show_anything module

class sapien.show_anything.AnythingViewer

Bases: object

add_mesh_file(filename)

add_urdf_file(filename)

focus_scene()

get_scene_aabb()

sapien.show_anything.is_mesh_file(anything)

sapien.show_anything.is_urdf_file(anything)

sapien.show_anything.show_anything(*args, update_camera=True, loop=True)

sapien.version module

Module contents