mani_skill.utils.sapien_utils module#

Utilities that work with the simulation / SAPIEN

Functions

mani_skill.utils.sapien_utils.apply_urdf_config(loader: URDFLoader, urdf_config: dict)[source]#
mani_skill.utils.sapien_utils.check_actor_static(actor: Actor, lin_thresh=0.001, ang_thresh=0.01)[source]#
mani_skill.utils.sapien_utils.check_joint_stuck(articulation: PhysxArticulation, active_joint_idx: int, pos_diff_threshold: float = 0.001, vel_threshold: float = 0.0001)[source]#
mani_skill.utils.sapien_utils.check_urdf_config(urdf_config: dict)[source]#

Check whether the urdf config is valid for SAPIEN.

Parameters:

urdf_config (dict) – dict passed to sapien.URDFLoader.load.

mani_skill.utils.sapien_utils.compute_total_impulse(contact_infos: List[Tuple[PhysxContact, bool]])[source]#
mani_skill.utils.sapien_utils.get_actor_state(actor: Entity)[source]#
mani_skill.utils.sapien_utils.get_articulation_padded_state(articulation: PhysxArticulation, max_dof: int)[source]#
mani_skill.utils.sapien_utils.get_articulation_state(articulation: PhysxArticulation)[source]#
mani_skill.utils.sapien_utils.get_cpu_actor_contacts(contacts: List[PhysxContact], actor: Entity) → List[Tuple[PhysxContact, bool]][source]#
mani_skill.utils.sapien_utils.get_cpu_actors_contacts(contacts: List[PhysxContact], actors: List[Entity]) → Dict[Entity, List[Tuple[PhysxContact, bool]]][source]#

This function is used to avoid double for-loop when using get_actor_contacts with multiple actors

mani_skill.utils.sapien_utils.get_multiple_pairwise_contacts(contacts: List[PhysxContact], actor0: Entity, actor1_list: List[Entity]) → Dict[Entity, List[Tuple[PhysxContact, bool]]][source]#

Given a list of contacts, return the dict of contacts involving the one actor and actors This function is used to avoid double for-loop when using get_pairwise_contacts with multiple actors

mani_skill.utils.sapien_utils.get_obj_by_name(objs: List[T], name: str, is_unique=True)[source]#

Get a object given the name.

Parameters:

  • objs (List[T]) – objs to query. Expect these objects to have a get_name function. These may be sapien.Entity, physx.PhysxArticulationLink etc.

  • name (str) – name for query.

  • is_unique (bool, optional) – whether the name should be unique. Defaults to True.

Raises:

RuntimeError – The name is not unique when @is_unique is True.

Returns:

matched T or Ts. None if no matches.

Return type:

T or List[T]

mani_skill.utils.sapien_utils.get_obj_by_type(objs: List[T], target_type: T, is_unique=True)[source]#
mani_skill.utils.sapien_utils.get_objs_by_names(objs: List[T], names: List[str]) → List[T][source]#

Get a list of objects given a list of names from a larger list of objects (objs). The returned list is in the order of the names given

Parameters:

  • objs (List[T]) – objs to query. Expect these objects to have a get_name function. These may be sapien.Entity, physx.PhysxArticulationLink etc.

  • name (str) – names to query.

Returns:

matched T or Ts. None if no matches.

Return type:

T or List[T]

mani_skill.utils.sapien_utils.get_pairwise_contact_impulse(contacts: List[PhysxContact], actor0: Entity, actor1: Entity)[source]#
mani_skill.utils.sapien_utils.get_pairwise_contacts(contacts: List[PhysxContact], actor0: Entity, actor1: Entity) → List[Tuple[PhysxContact, bool]][source]#

Given a list of contacts, return the list of contacts involving the two actors

mani_skill.utils.sapien_utils.hex2rgba(h, correction=True)[source]#
mani_skill.utils.sapien_utils.is_state_dict_consistent(state_dict: dict)[source]#

Checks if the given state dictionary (generated via env.get_state_dict()) is consistent where each actor/articulation has the same batch dimension

mani_skill.utils.sapien_utils.look_at(eye, target, up=(0, 0, 1), device=None) → Pose[source]#

Get the camera pose in SAPIEN by the Look-At method.

Note

https://www.scratchapixel.com/lessons/mathematics-physics-for-computer-graphics/lookat-function The SAPIEN camera follows the convention: (forward, right, up) = (x, -y, z) while the OpenGL camera follows (forward, right, up) = (-z, x, y) Note that the camera coordinate system (OpenGL) is left-hand.

Parameters:

  • eye – camera location

  • target – looking-at location

  • up – a general direction of “up” from the camera.

  • device – device to put the pose on.

Returns:

camera pose

Return type:

Pose

mani_skill.utils.sapien_utils.parse_urdf_config(config_dict: dict) → Dict[source]#

Parse config from dict for SAPIEN URDF loader.

Parameters:

  • config_dict (dict) – a dict containing link physical properties.

  • scene (ManiSkillScene) – the simulation scene

Returns:

urdf config passed to sapien.URDFLoader.load.

Return type:

Dict

mani_skill.utils.sapien_utils.sapien_pose_to_opencv_extrinsic(sapien_pose_matrix: ndarray) → ndarray[source]#
mani_skill.utils.sapien_utils.set_articulation_render_material(articulation: PhysxArticulation, **kwargs)[source]#
mani_skill.utils.sapien_utils.set_render_material(material: RenderMaterial, **kwargs)[source]#