[fix] fix typo and add get sapien viewer

yzqin · yzqin · commit 7c23d0dbc88d · 2023-12-05T22:07:41.000-08:00
diff --git a/sim_web_visualizer/__init__.py b/sim_web_visualizer/__init__.py
@@ -10,7 +10,7 @@
 
 try:
     import sapien.core as sapien
-    from .sapien_visualizer_client import create_sapien_visualizer, bind_visualizer_to_sapien_scene
+    from .sapien_visualizer_client import create_sapien_visualizer, bind_visualizer_to_sapien_scene, get_visualizer
 except ImportError as e:
     warnings.warn(str(e))
     warnings.warn(
diff --git a/sim_web_visualizer/isaac_visualizer_client.py b/sim_web_visualizer/isaac_visualizer_client.py
@@ -462,6 +462,6 @@ def bind_visualizer_to_gym(gym: gymapi.Gym, sim: gymapi.Sim):
     return _REGISTERED_VISUALIZER[0].set_gym_instance(gym, sim)
 
 
-def set_gpu_pipeline(use_gou_pipeline: bool):
+def set_gpu_pipeline(use_gpu_pipeline: bool):
     global USE_GPU_PIPELINE
-    USE_GPU_PIPELINE = use_gou_pipeline
+    USE_GPU_PIPELINE = use_gpu_pipeline
diff --git a/sim_web_visualizer/sapien_visualizer_client.py b/sim_web_visualizer/sapien_visualizer_client.py
@@ -356,3 +356,9 @@ def bind_visualizer_to_sapien_scene(scene: sapien.Scene, engine: sapien.Engine,
     if len(_REGISTERED_VISUALIZER) <= 0:
         raise RuntimeError(f"Web Visualizer has not been created yet! Call create_visualizer before register it to env")
     return _REGISTERED_VISUALIZER[0].set_scene(scene, engine, render)
+
+
+def get_visualizer() -> MeshCatVisualizerSapien:
+    if len(_REGISTERED_VISUALIZER) == 0:
+        raise RuntimeError(f"No SAPIEN Web Visualizer is created.")
+    return _REGISTERED_VISUALIZER[0]
