concepts.simulator.sapien2.scene_base.SapienSceneBase

class SapienSceneBase

Bases: object

Methods

add_camera(name, pose[, width, height, ...])
create_viewer([resolutions, camera_xyz, ...])
get_picture(camera[, get_depth, debug_viewer])
step()
update_render()

__init__(fps=240.0, **kwargs)

Parameters:

fps (float)

__new__(**kwargs)

add_camera(name, pose, width=768, height=768, fovy=np.deg2rad(60), near=0.05, far=100)

Parameters:

• name (str)

• pose (sapien.core.Pose)

• width (int)

• height (int)

• fovy (float)

• near (float)

• far (float)

Return type:

sapien.core.CameraEntity

create_viewer(resolutions=(1440, 1440), camera_xyz=(1.2, 0.25, 0.4), camera_rpy=(0.0, -0.4, 2.7), near=0.05, far=100, fovy=1)

Parameters:

• resolutions (tuple[int, int])

• camera_xyz (tuple[float, float, float])

• camera_rpy (tuple[float, float, float])

• near (float)

• far (float)

• fovy (float)

Return type:

sapien.utils.Viewer

get_picture(camera, get_depth=False, debug_viewer=False)

Parameters:

• camera (sapien.core.CameraEntity)

• get_depth (bool)

• debug_viewer (bool)

Return type:

tuple[Image, sapien.core.CameraEntity]

step()

update_render()