[add] add sapien hello world example

yzqin · yzqin · commit 5866ed11caa1 · 2023-12-19T19:42:41.000-08:00
diff --git a/example/sapien/hello_world.py b/example/sapien/hello_world.py
@@ -0,0 +1,44 @@
+import sapien.core as sapien
+from meshcat.servers.zmqserver import start_zmq_server_as_subprocess
+from sim_web_visualizer import create_sapien_visualizer, bind_visualizer_to_sapien_scene
+
+
+def main():
+    # create simulation engine
+    engine = sapien.Engine()
+
+    # Create renderer
+    renderer = sapien.SapienRenderer()
+    engine.set_renderer(renderer)
+
+    # Create a simulation scene
+    create_sapien_visualizer(port=6000, host="localhost", keep_default_viewer=False)
+    scene = engine.create_scene()
+    scene = bind_visualizer_to_sapien_scene(scene, engine, renderer)
+    scene.set_timestep(1 / 100.0)  # Set the simulation frequency
+
+    # Add actors(rigid bodies)
+    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, 0.0, 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
+    scene.set_ambient_light([0.5, 0.5, 0.5])
+    scene.add_directional_light([0, 1, -1], [0.5, 0.5, 0.5])
+
+    #############################
+    while True:
+        try:
+            scene.step()  # Simulate the world
+            scene.update_render()  # Update the world to the renderer
+
+        except KeyboardInterrupt:
+            break
+
+
+if __name__ == "__main__":
+    start_zmq_server_as_subprocess()
+    main()
