Welcome to sapien’s documentation!

Tutorial

• Basic
  • Hello World
    • Simulation engine and scene
    • Add rigid bodies
    • Viewer
    • Simulation loop
    • Full script
  • Create Actors
    • Create an actor by a single primitive
    • Create an actor by multiple primitives
    • Create an actor by a mesh file
    • Remove an actor
  • Physics
    • Set default physical properties
    • Set physical materials
    • Create a kinematic actor
    • Set damping for the actor
    • Get kinematic quantities (pose, velocity) of an actor
  • Create Articulations
    • Create a root link
    • Create a child link connected by a revolute joint
    • Control an articulation with builtin drives
    • Get kinematic quantities of the articulation
    • Remove an articulation
  • Viewer
    • Free Camera Control
    • Actor Selection
    • Focused Camera Control
    • Control Window
    • Scene Hierarchy Window
    • Actor Window
    • Articulation Window
    • Move Objects
  • Contact
• Rendering
  • Camera
    • Create and mount a camera
    • Render RGB image
    • Generate point cloud
    • Visualize segmentation
    • Take a screenshot from the viewer
  • Raytracing Renderer
    • Raytracing vs. rasterization
    • Raytracing with SAPIEN
    • Advanced Material Support in Kuafu
    • Sensor Simulation in Kuafu
• Robotics
  • Getting Started with Robot
    • Set up the engine, renderer and scene
    • Load a robot URDF
    • Set joint positions
    • Compensate passive forces (e.g. gravity)
  • Drive Robot with PID Controller
    • Setup
    • Drive the robot with the PhysX internal PD controller
    • Write your own PID controller
• Reinforcement Learning
  • Build Gym-style Interface
    • SapienEnv: base class
    • AntEnv: environment
    • Random Agent
  • Basic Manipulation
    • Setup
    • Task Definition
• Motion Planning
  • Getting Started
    • Installation
    • Planner Configuration
  • Plan a Path
    • Plan with sampling-based algorithms
    • Follow a path
    • Plan with screw motion
    • Move the boxes
  • Inverse Kinematics
  • Collision Avoidance
    • Add environment point clouds
    • Attach a box
• Migration from sapien 1.x.x to 2.x.x
  • Light
  • Camera

API Doc

• sapien
  • sapien package
    • Subpackages
    • Submodules
    • sapien.version module
    • Module contents

Indices and tables

• Index

• Module Index

• Search Page