add offscreen testing

fbxiang · fbxiang · commit d1ca9d13ad72 · 2021-07-22T00:04:41.000-07:00
diff --git a/python/py_package/example/offscreen.py b/python/py_package/example/offscreen.py
@@ -0,0 +1,42 @@
+"""Test offscreen renderer for SAPIEN
+"""
+import sapien.core as sapien
+from sapien.utils import Viewer
+import numpy as np
+from PIL import Image
+
+
+def main():
+    engine = sapien.Engine()  # Create a physical simulation engine
+    renderer = sapien.VulkanRenderer()  # Create a Vulkan renderer
+    engine.set_renderer(renderer)  # Bind the renderer and the engine
+
+    scene = engine.create_scene()  # Create an instance of simulation world (aka scene)
+    scene.set_timestep(1 / 100.0)  # Set the simulation frequency
+
+    # NOTE: How to build actors (rigid bodies) is elaborated in create_actors.py
+    scene.add_ground(altitude=0)  # Add a ground
+    actor_builder = scene.create_actor_builder()
+    actor_builder.add_box_collision(half_size=[0.5, 0.5, 0.5])
+    actor_builder.add_box_visual(half_size=[0.5, 0.5, 0.5], color=[1., 0., 0.])
+    box = actor_builder.build(name='box')  # Add a box
+    box.set_pose(sapien.Pose(p=[0, 0, 0.5]))
+
+    # Add some lights so that you can observe the scene
+    rscene = scene.get_renderer_scene()
+    rscene.set_ambient_light([0.5, 0.5, 0.5])
+    rscene.add_directional_light([0, 1, -1], [0.5, 0.5, 0.5])
+
+    actor = scene.create_actor_builder().build_kinematic()
+    actor.set_pose(sapien.Pose([-3, 0, 0.5]))
+    cam = scene.add_mounted_camera('', actor, sapien.Pose(), 128, 128, 0, 1, 0.01, 10)
+
+    scene.update_render()
+    cam.take_picture()
+    color = cam.get_color_rgba()
+
+    Image.fromarray((color[..., :3].clip(0, 1) * 255).astype(np.uint8)).save("output.png")
+
+
+if __name__ == '__main__':
+    main()
