concepts.simulator.sapien2.sapien_utils.get_actor_pcd

get_actor_pcd(actor, num_points, to_world_frame=True, return_o3d=False, visual=False)

Parameters:

• actor (sapien.core.ActorBase)

• num_points (int)

• to_world_frame (bool)

• return_o3d (bool)

Return type:

ndarray | open3d.geometry.PointCloud