Welcome to sapien’s documentation!

Basic SAPIEN Python API

• Basic
  • A minimal example
    • Installation
    • Simulation engine and scene
    • On screen rendering by renderer controller
    • Load SAPIEN assets
    • Simulation Loop
    • Change visualization mode
    • The entire code
  • SAPIEN assets and rendering
    • Get your unique access token
    • Download SAPIEN assets in Python
    • OpenGL vs Vulkan
    • Vulkan environment setup
    • Create Camera in Simulation Scene
    • Rendering RGB Image
    • Generate viewed Point Cloud
    • Visualize object segmentation
    • The entire code
    • Create Camera in Simulation Scene (OpenGL, deprecated)
    • Rendering RGB Image (OpenGL, deprecated)
    • Generate viewed Point Cloud (OpenGL, deprecated)
    • Visualize object segmentation (OpenGL, deprecated)
    • The entire code (OpenGL, deprecated)
  • Build Gym-Style interface
    • Write a SAPIEN environment base
    • Build an ant robot purely by Python
    • Ant environment class
    • Use Ant environment
    • The entire code
• Rendering
  • Custom shaders
    • Setup
    • Use custom shaders
    • Custom shader: world normal
    • Per-object data
  • Get rendering mesh
    • Get rendering mesh from visual bodies

Robotics in SAPIEN

• Robotics
  • Getting Started
    • Set up engine, renderer and scene
    • Load robot and set joint position
    • Change flag of URDF Loader
    • Gravity compensation
    • Add damping to joints
    • The entire code
  • Use PID to drive the robot
    • Basic setup
    • Drive robot with Physx’s internal PD controller
    • Write your own PID controller
    • The entire code

Indices and tables

• Index

• Module Index

• Search Page