wrapper

Subpackages

• geometry
  • Submodules
  • sapien.wrapper.geometry.blender_usd_to_glb module
  • sapien.wrapper.geometry.cache module
    • cached()
    • check_hash()
    • file_exists()
    • get_file_md5()
    • read_hash_file()
    • serialize()
    • write_hash_file()
  • sapien.wrapper.geometry.usd module
    • find_blender()
  • Module contents

Submodules

sapien.wrapper.actor_builder module

class sapien.wrapper.actor_builder.ActorBuilder

Bases: object

add_box_collision(pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0]), half_size: Tuple = (1, 1, 1), material: PhysxMaterial | None = None, density: float = 1000, patch_radius: float = 0, min_patch_radius: float = 0, is_trigger: bool = False)

add_box_visual(pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0]), half_size: Tuple = (1, 1, 1), material: RenderMaterial | None | Tuple = None, name: str = '')

add_capsule_collision(pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0]), radius: float = 1, half_length: float = 1, material: PhysxMaterial | None = None, density: float = 1000, patch_radius: float = 0, min_patch_radius: float = 0, is_trigger: bool = False)

add_capsule_visual(pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0]), radius: float = 1, half_length: float = 1, material: RenderMaterial | None | Tuple = None, name: str = '')

add_convex_collision_from_file(filename, pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0]), scale: Tuple = (1, 1, 1), material: PhysxMaterial | None = None, density: float = 1000, patch_radius: float = 0, min_patch_radius: float = 0, is_trigger: bool = False)

add_cylinder_collision(pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0]), radius: float = 1, half_length: float = 1, material: PhysxMaterial | None = None, density: float = 1000, patch_radius: float = 0, min_patch_radius: float = 0, is_trigger: bool = False)

add_cylinder_visual(pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0]), radius: float = 1, half_length: float = 1, material: RenderMaterial | None | Tuple = None, name: str = '')

add_multiple_convex_collisions_from_file(filename, pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0]), scale: Tuple = (1, 1, 1), material: PhysxMaterial | None = None, density: float = 1000, patch_radius: float = 0, min_patch_radius: float = 0, is_trigger: bool = False, decomposition: Literal['none', 'coacd'] = 'none', decomposition_params={})

add_nonconvex_collision_from_file(filename: str, pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0]), scale: Tuple = (1, 1, 1), material: PhysxMaterial | None = None, patch_radius: float = 0, min_patch_radius: float = 0, is_trigger: bool = False)

add_plane_collision(pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0]), material: PhysxMaterial | None = None, patch_radius: float = 0, min_patch_radius: float = 0, is_trigger: bool = False)

add_plane_visual(pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0]), scale: Tuple = (1, 1, 1), material: RenderMaterial | None | Tuple = None, name: str = '')

add_sphere_collision(pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0]), radius: float = 1, material: PhysxMaterial | None = None, density: float = 1000, patch_radius: float = 0, min_patch_radius: float = 0, is_trigger: bool = False)

add_sphere_visual(pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0]), radius: float = 1, material: RenderMaterial | None | Tuple = None, name: str = '')

add_visual_from_file(filename: str, pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0]), scale: Tuple = (1, 1, 1), material: RenderMaterial | None | Tuple = None, name: str = '')

build(name=None)

build_entity()

build_kinematic(name='')

build_physx_component(link_parent=None)

build_render_component()

build_static(name='')

set_initial_pose(pose)

set_mass_and_inertia(mass, cmass_local_pose, inertia)

set_name(name)

set_physx_body_type(type)

set_scene(scene: Scene)

class sapien.wrapper.actor_builder.CollisionShapeRecord(type: Literal['convex_mesh', 'multiple_convex_meshes', 'nonconvex_mesh', 'plane', 'box', 'capsule', 'sphere', 'cylinder'], filename: str = '', scale: Tuple = (1, 1, 1), radius: float = 1, length: float = 1, material: sapien.pysapien.physx.PhysxMaterial | None = None, pose: sapien.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), density: float = 1000, patch_radius: float = 0, min_patch_radius: float = 0, is_trigger: bool = False, decomposition: str = 'none', decomposition_params: Dict[str, Any] | None = None)

Bases: object

decomposition: str = 'none'

decomposition_params: Dict[str, Any] | None = None

density: float = 1000

filename: str = ''

is_trigger: bool = False

length: float = 1

material: PhysxMaterial | None = None

min_patch_radius: float = 0

patch_radius: float = 0

pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0])

radius: float = 1

scale: Tuple = (1, 1, 1)

type: Literal['convex_mesh', 'multiple_convex_meshes', 'nonconvex_mesh', 'plane', 'box', 'capsule', 'sphere', 'cylinder']

class sapien.wrapper.actor_builder.VisualShapeRecord(type: Literal['file', 'plane', 'box', 'capsule', 'sphere', 'cylinder'], filename: str = '', scale: tuple = (1, 1, 1), radius: float = 1, length: float = 1, material: sapien.pysapien.render.RenderMaterial | None = None, pose: sapien.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), name: str = '')

Bases: object

filename: str = ''

length: float = 1

material: RenderMaterial | None = None

name: str = ''

pose: Pose = Pose([0, 0, 0], [1, 0, 0, 0])

radius: float = 1

scale: tuple = (1, 1, 1)

type: Literal['file', 'plane', 'box', 'capsule', 'sphere', 'cylinder']

sapien.wrapper.actor_builder.preprocess_mesh_file(filename: str)

Process input mesh file to a SAPIEN supported format Args:

filename: input mesh file

Returns:

filename for the generated file or original filename

sapien.wrapper.articulation_builder module

class sapien.wrapper.articulation_builder.ArticulationBuilder

Bases: object

build(fix_root_link=None, build_mimic_joints=True) → PhysxArticulation

build_entities(fix_root_link=None)

create_link_builder(parent: LinkBuilder | None = None)

set_initial_pose(pose)

set_scene(scene: Scene)

class sapien.wrapper.articulation_builder.JointRecord(joint_type: str = 'undefined', limits: Tuple[float] = (-inf, inf), pose_in_parent: sapien.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), pose_in_child: sapien.pysapien.Pose = Pose([0, 0, 0], [1, 0, 0, 0]), friction: float = 0, damping: float = 0, name: str = '')

Bases: object

damping: float = 0

friction: float = 0

joint_type: str = 'undefined'

limits: Tuple[float] = (-inf, inf)

name: str = ''

pose_in_child: Pose = Pose([0, 0, 0], [1, 0, 0, 0])

pose_in_parent: Pose = Pose([0, 0, 0], [1, 0, 0, 0])

class sapien.wrapper.articulation_builder.LinkBuilder(index: int, parent)

Bases: ActorBuilder

set_joint_name(name)

set_joint_properties(type, limits, pose_in_parent, pose_in_child, friction=0, damping=0)

class sapien.wrapper.articulation_builder.MimicJointRecord(joint: str, mimic: str, multiplier: float, offset: float)

Bases: object

joint: str

mimic: str

multiplier: float

offset: float

sapien.wrapper.coacd module

sapien.wrapper.coacd.do_coacd(filename, threshold=0.05, max_convex_hull=-1, preprocess_mode='auto', preprocess_resolution=30, resolution=2000, mcts_nodes=20, mcts_iterations=150, mcts_max_depth=3, pca=False, merge=True, seed=0, verbose=False)

sapien.wrapper.coacd.get_file_md5(filename)

sapien.wrapper.engine module

class sapien.wrapper.engine.Engine(**args)

Bases: object

create_physical_material(static_friction, dynamic_friction, restitution)

create_scene(config=PhysxSceneConfig())

set_renderer(renderer)

sapien.wrapper.pinocchio_model module

sapien.wrapper.renderer module

class sapien.wrapper.renderer.SapienRenderer(**args)

Bases: SapienRenderer

create_material()

sapien.wrapper.renderer.get_diffuse_texture(self)

sapien.wrapper.renderer.set_diffuse_texture(self, texture)

sapien.wrapper.scene module

class sapien.wrapper.scene.Scene(systems=None)

Bases: Scene

add_area_light_for_ray_tracing(pose: Pose, color, half_width: float, half_height: float)

add_camera(name, width: int, height: int, fovy: float, near: float, far: float) → RenderCameraComponent

add_directional_light(direction, color, shadow=False, position=[0, 0, 0], shadow_scale=10.0, shadow_near=-10.0, shadow_far=10.0, shadow_map_size=2048)

add_ground(altitude, render=True, material=None, render_material=None, render_half_size=[10, 10])

add_mounted_camera(name, mount, pose, width, height, fovy, near, far) → RenderCameraComponent

add_point_light(position, color, shadow=False, shadow_near=0.1, shadow_far=10.0, shadow_map_size=2048)

add_spot_light(position, direction, inner_fov: float, outer_fov: float, color, shadow=False, shadow_near=0.1, shadow_far=10.0, shadow_map_size=2048)

property ambient_light

create_actor_builder()

create_articulation_builder()

create_connection(body0: Entity | PhysxRigidBaseComponent | None, pose0: Pose, body1: Entity | PhysxRigidBaseComponent, pose1: Pose)

create_drive(body0: Entity | PhysxRigidBaseComponent | None, pose0: Pose, body1: Entity | PhysxRigidBaseComponent, pose1: Pose)

create_gear(body0: Entity | PhysxRigidBaseComponent | None, pose0: Pose, body1: Entity | PhysxRigidBaseComponent, pose1: Pose)

create_physical_material(static_friction: float, dynamic_friction: float, restitution: float)

create_urdf_loader()

create_viewer()

get_all_actors()

get_all_articulations()

get_cameras()

get_contacts()

get_mounted_cameras()

get_timestep()

remove_actor(actor)

remove_articulation(articulation)

remove_camera(camera)

remove_light(light)

property render_id_to_visual_name

set_ambient_light(color)

set_environment_map(cubemap: str | RenderCubemap)

set_environment_map_from_files(px: str, nx: str, py: str, ny: str, pz: str, nz: str)

set_timestep(timestep)

step()

property timestep

update_render()

class sapien.wrapper.scene.Widget

Bases: object

sapien.wrapper.urdf_exporter module

sapien.wrapper.urdf_exporter.export_joint(joint: PhysxArticulationJoint)

sapien.wrapper.urdf_exporter.export_kinematic_chain_urdf(articulation, force_fix_root=False)

sapien.wrapper.urdf_exporter.export_kinematic_chain_xml(articulation)

sapien.wrapper.urdf_exporter.export_link(link: PhysxArticulationLinkComponent)

sapien.wrapper.urdf_loader module

Module contents