Basic

This tutorial focuses on the basic usage of SAPIEN Python Api.

• 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
    • Environment base constructor
    • Get observation for agent
    • Virtual functions to be implemented
  • Build an ant robot purely by Python
  • Ant environment class
  • Use Ant environment
  • The entire code