fastdev.sim_webui.maniskill_webui
=================================

.. py:module:: fastdev.sim_webui.maniskill_webui






Module Contents
---------------

.. py:function:: get_component_meshes(component: sapien.physx.PhysxRigidBaseComponent)

   Get component (collision) meshes in the component's frame.


.. py:class:: ManiSkillStateManger

   Bases: :py:obj:`fastdev.sim_webui.webui.StateManager`


   State manager for multiple scenes.


   .. py:attribute:: component_poses_history
      :type:  List[Dict[str, numpy.ndarray]]
      :value: []



   .. py:attribute:: component_colors
      :type:  Dict[str, fastdev.sim_webui.webui.Color]


   .. py:attribute:: component_name_to_asset_id
      :type:  Dict[str, str]


   .. py:attribute:: component_name_to_scene_indices
      :type:  Dict[str, List[int]]


   .. py:attribute:: scene_index_to_component_names
      :type:  Dict[int, List[str]]


   .. py:method:: get_scene_num_frames(scene_index: int) -> int


   .. py:method:: get_frame_viser_asset_states(scene_index: int, frame_index: int) -> List[fastdev.sim_webui.webui.ViserAssetState]


   .. py:property:: num_scenes
      :type: int



   .. py:method:: get_scene_last_updated(scene_index: int) -> float


   .. py:method:: reset()


   .. py:method:: set_robot_state(*args, **kwargs)


   .. py:method:: set_mesh_state(*args, **kwargs)


   .. py:method:: set_point_cloud_state(*args, **kwargs)


   .. py:method:: __getitem__(scene_index: int)


   .. py:method:: __hash__() -> int


   .. py:method:: __repr__() -> str


   .. py:method:: __str__() -> str


.. py:class:: ManiSkillWebUI(env: gymnasium.Env, host: str = 'localhost', port: int = 8080, disable_cache: bool = False)

   Bases: :py:obj:`fastdev.sim_webui.webui.SimWebUI`


   WebUI for simulator and 3D scene visualization.


   .. py:method:: set_robot_state(*args, **kwargs)

      Set the state of a robot asset.

      :param asset_id: Asset ID of the robot asset.
      :type asset_id: str
      :param joint_values: Multi-frame (or single-frame) joint values. Defaults to None.
      :type joint_values: Optional[JointValuesT], optional
      :param root_poses: Multi-frame (or single-frame) root poses. Defaults to None.
      :type root_poses: Optional[PosesT], optional
      :param scene_index: Scene index. Defaults to None.
      :type scene_index: Optional[int], optional

      .. note::
          The number of frames of the asset state is determined by the number of joint values provided.



   .. py:method:: set_mesh_state(*args, **kwargs)

      Set the state of a mesh asset.

      :param asset_id: Asset ID of the mesh asset.
      :type asset_id: str
      :param scene_index: Scene index. Defaults to None.
      :type scene_index: Optional[int], optional
      :param poses: Multi-frame (or single-frame) poses. Defaults to None.
      :type poses: Optional[PosesLike], optional
      :param scale: Scale factor. Defaults to 1.0.
      :type scale: ScaleLike, optional
      :param color: Color of the mesh, use random color if not provided. Defaults to None.
      :type color: ColorLike, optional

      .. note::
          The number of frames of the asset state is determined by the number of poses provided.



   .. py:method:: set_point_cloud_state(*args, **kwargs)

      Set the state of a point cloud asset.

      :param asset_id: Asset ID of the point cloud asset.
      :type asset_id: str
      :param scene_index: Scene index. Defaults to None.
      :type scene_index: Optional[int], optional
      :param poses: Multi-frame (or single-frame) poses. Defaults to None.
      :type poses: Optional[PosesLike], optional
      :param scale: Scale factor. Defaults to 1.0.
      :type scale: ScaleLike, optional
      :param color: Color of the point cloud. Defaults to None.
      :type color: Optional[ColorLike], optional

      .. note::
          The number of frames of the asset state is determined by the number of poses provided.



   .. py:method:: __repr__() -> str


   .. py:method:: __str__() -> str